diff --git a/camxtime_eval/target/eval_scene_002__backward/caption.txt b/camxtime_eval/target/eval_scene_002__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ba474bbbe7c233dde6ddbc1b5fed0d394bc78e5 --- /dev/null +++ b/camxtime_eval/target/eval_scene_002__backward/caption.txt @@ -0,0 +1 @@ +A person in a pink cropped sweater and light blue jeans stands before a modern, multi-level house with large glass windows and concrete pillars. They lower themselves, bending at the knees, and sit down on a gray outdoor lounge chair. Inside the house, an exercise bike is visible through the glass, and red cushions rest on a balcony. A staircase ascends to the right, and a palm tree stands in the background. The person remains seated, looking forward, as the scene holds still. The camera sweeps along an arc around the scene. Scene time is reversed, playing backward. diff --git a/camxtime_eval/target/eval_scene_002__backward/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_002__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..38a81c76be50939adf70ceceaf866242998916bc --- /dev/null +++ b/camxtime_eval/target/eval_scene_002__backward/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "backward", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 119, + 118, + 116, + 115, + 113, + 112, + 110, + 109, + 107, + 106, + 104, + 103, + 101, + 100, + 98, + 97, + 95, + 94, + 92, + 91, + 89, + 88, + 86, + 85, + 83, + 82, + 80, + 79, + 77, + 76, + 74, + 73, + 71, + 70, + 68, + 67, + 65, + 64, + 62, + 61, + 59, + 58, + 57, + 55, + 54, + 52, + 51, + 49, + 48, + 46, + 45, + 43, + 42, + 40, + 39, + 37, + 36, + 34, + 33, + 31, + 30, + 28, + 27, + 25, + 24, + 22, + 21, + 19, + 18, + 16, + 15, + 13, + 12, + 10, + 9, + 7, + 6, + 4, + 3, + 1, + 0 + ], + "timestamps_seconds": [ + 3.9666666984558105, + 3.933333396911621, + 3.866666555404663, + 3.8333332538604736, + 3.7666666507720947, + 3.7333333492279053, + 3.6666667461395264, + 3.633333444595337, + 3.566666603088379, + 3.5333333015441895, + 3.4666666984558105, + 3.433333396911621, + 3.366666555404663, + 3.3333332538604736, + 3.2666666507720947, + 3.2333333492279053, + 3.1666667461395264, + 3.133333444595337, + 3.066666603088379, + 3.0333333015441895, + 2.9666666984558105, + 2.933333396911621, + 2.866666555404663, + 2.8333332538604736, + 2.7666666507720947, + 2.7333333492279053, + 2.6666667461395264, + 2.633333444595337, + 2.566666603088379, + 2.5333333015441895, + 2.4666666984558105, + 2.433333396911621, + 2.366666555404663, + 2.3333332538604736, + 2.2666666507720947, + 2.2333333492279053, + 2.1666667461395264, + 2.133333444595337, + 2.066666603088379, + 2.0333333015441895, + 1.9666666984558105, + 1.9333332777023315, + 1.899999976158142, + 1.8333333730697632, + 1.7999999523162842, + 1.7333333492279053, + 1.7000000476837158, + 1.6333333253860474, + 1.600000023841858, + 1.5333333015441895, + 1.5, + 1.4333332777023315, + 1.399999976158142, + 1.3333333730697632, + 1.2999999523162842, + 1.2333333492279053, + 1.2000000476837158, + 1.1333333253860474, + 1.100000023841858, + 1.0333333015441895, + 1.0, + 0.9333333373069763, + 0.8999999761581421, + 0.8333333134651184, + 0.800000011920929, + 0.7333333492279053, + 0.699999988079071, + 0.6333333253860474, + 0.6000000238418579, + 0.5333333611488342, + 0.5, + 0.4333333373069763, + 0.4000000059604645, + 0.3333333432674408, + 0.30000001192092896, + 0.23333333432674408, + 0.20000000298023224, + 0.13333334028720856, + 0.10000000149011612, + 0.03333333507180214, + 0.0 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene002_traj01_backward.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0003569393862445924, + "max_input_determinant_error": 0.00035647685496753567, + "max_rotation_element_change": 0.00017007252709899667, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_002__backward/transforms.json b/camxtime_eval/target/eval_scene_002__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..de57541274e3ff013e8b0167e98197de29895d1b --- /dev/null +++ b/camxtime_eval/target/eval_scene_002__backward/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999925494206, + -4.4703479695747493e-08, + 0.00012207029521960399, + 0.0001525320258224383 + ], + [ + -4.4703472590334456e-08, + 0.9999997317791488, + 0.0007324217558562974, + -0.0004886164097115397 + ], + [ + -0.00012207029521960653, + -0.0007324217558561162, + 0.9999997243285698, + -0.00045742455404251814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999996274746065, + -0.0006092672293304817, + 0.0006114279120665063, + 0.0005792450392618775 + ], + [ + 0.0006114278830658971, + 0.9999935478230655, + -0.0035398401351784676, + 0.001098521752282977 + ], + [ + -0.0006092672584340752, + 0.0035402126605720945, + 0.9999935478230477, + 0.00013323582243174314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999992531030634, + -0.0007269736990853646, + 0.0009824981204436239, + 8.740343037061393e-05 + ], + [ + 0.0007378424918707525, + 0.9999380354434784, + -0.011107693815290023, + 0.0040420363657176495 + ], + [ + -0.0009743622391219875, + 0.011108410447848665, + 0.9999378249849082, + -0.0012064824113622308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999958502104868, + -0.0023074279674240505, + 0.0017249168039198523, + -0.00023037160281091928 + ], + [ + 0.0023310007425904437, + 0.9999021786749107, + -0.01379128408469414, + 0.0046859062276780605 + ], + [ + -0.0016929256756688918, + 0.013795247636118833, + 0.9999034079076414, + -0.0034295632503926754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999972212131018, + -0.0021878790957231943, + 0.0008779243349361305, + 0.0006240070215426385 + ], + [ + 0.002206132283795059, + 0.9997694386043292, + -0.021358900091805313, + 0.007343169767409563 + ], + [ + -0.0008309912284576401, + 0.02136077755719164, + 0.9997714872088176, + -0.0007441366906277835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999977204794952, + -0.0019461472046500815, + 0.000878377408143593, + 0.0011120823910459876 + ], + [ + 0.001967110219257824, + 0.9996971203500826, + -0.024531572333166333, + 0.00821027159690857 + ], + [ + -0.0008303693145800575, + 0.024533244278119936, + 0.9996986698060527, + -0.0010968855349346995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999998175060474, + -0.0016949874074103635, + 0.0008814155713923505, + 0.0006227517733350396 + ], + [ + 0.0017221014728954584, + 0.9994950090666478, + -0.03172950074265883, + 0.010504785925149918 + ], + [ + -0.0008271893603182052, + 0.03173096072529234, + 0.9994961039890107, + -1.2465395229810383e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999974823862641, + -0.001558172080307588, + 0.0016147200692319637, + 0.00013178576773498207 + ], + [ + 0.0016147201932323449, + 0.9993636776636355, + -0.03563190207258, + 0.012120475061237812 + ], + [ + -0.0015581719518071317, + 0.035634419686316324, + 0.9993636776638359, + -0.0007742598536424339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999972442089428, + -0.00205141483180351, + 0.0011416092624003437, + 0.0007940771174617112 + ], + [ + 0.0020972670941129677, + 0.9991267790820336, + -0.04172865672289595, + 0.014176572673022747 + ], + [ + -0.001055009599999689, + 0.0417309359869773, + 0.9991283280622136, + -5.7871133321896195e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999975798766674, + -0.0020575766979463936, + 0.0007788574581030854, + 0.0005185624468140304 + ], + [ + 0.0020906390266724343, + 0.9989783847103035, + -0.04514217662067517, + 0.014886005781590939 + ], + [ + -0.0006851782747058644, + 0.04514369568083846, + 0.9989802687095515, + 0.0005061717820353806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999972451648774, + -0.002327368213157099, + -0.00030499156653262025, + 0.001363548799417913 + ], + [ + 0.0023080620406515893, + 0.9986078292530195, + -0.05269797153770069, + 0.017311209812760353 + ], + [ + 0.0004272145500502909, + 0.05269712242402041, + 0.9986104499633253, + 0.0009483253234066069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999990693902322, + -0.001334877282669586, + 0.0002816403907154345, + 0.0011348928092047572 + ], + [ + 0.0013485767695683793, + 0.998423796366383, + -0.05610796904216172, + 0.018704015761613846 + ], + [ + -0.00020629921485717712, + 0.056108296641226275, + 0.9984246674079394, + 0.002242849674075842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999992779995971, + -0.0010823162915720402, + 0.0005221031800733986, + 0.0004045426321681589 + ], + [ + 0.001112804054604929, + 0.9980481801427147, + -0.06243870419019911, + 0.020740969106554985 + ], + [ + -0.00045350570194940023, + 0.06243924010796536, + 0.998048663957484, + 0.0008310626144520938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999961226237314, + -0.002394786748246871, + 0.0014211734353812818, + -5.3183171985438094e-05 + ], + [ + 0.0024825533188465145, + 0.997858811269759, + -0.06535770574556092, + 0.02151600271463394 + ], + [ + -0.0012616126672223664, + 0.06536098046797213, + 0.9978608873814743, + 0.0002166326594306156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999965919093086, + -0.0020148205689420147, + 0.0016603216080388842, + 0.00010449918772792444 + ], + [ + 0.002130129965655186, + 0.9973548123432042, + -0.0726556318682858, + 0.024075888097286224 + ], + [ + -0.0015095416842773196, + 0.07265892095211259, + 0.997355705097222, + 0.0021706540137529373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999959454131976, + -0.0027849702738567046, + 0.0005942202776386358, + 0.000631654926110059 + ], + [ + 0.002822099793018285, + 0.9970992113370581, + -0.0760604923976583, + 0.025270065292716026 + ], + [ + -0.0003806703598516799, + 0.07606186095271229, + 0.9971030279757892, + 0.0025700123514980078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999963334842811, + -0.0021277527402786644, + 0.0016750182897937488, + 0.00021912432566750795 + ], + [ + 0.002259235407083089, + 0.9965583736613519, + -0.0828631627492957, + 0.027125747874379158 + ], + [ + -0.0014929411811219681, + 0.08286664319083491, + 0.9965595268587384, + 0.0037633483298122883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99999773927184, + -0.0007692083281766024, + 0.001982364688048348, + -0.00017267142538912594 + ], + [ + 0.0009364184704349449, + 0.9963138271100692, + -0.08577809178184011, + 0.027907080948352814 + ], + [ + -0.001909076126503841, + 0.085779754183802, + 0.9963122950162306, + 0.0031688029412180185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1188.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999974723233046, + -0.0016377807885215644, + 0.0015404613239508222, + 0.00016688444884493947 + ], + [ + 0.0017726818959558428, + 0.9957492715240243, + -0.09208825038120375, + 0.02964525669813156 + ], + [ + -0.0013830928738122546, + 0.09209074835977976, + 0.9957496578561491, + 0.004220190457999706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999975616319389, + -0.002180474830590363, + 0.00034965653008875246, + 0.001305767917074263 + ], + [ + 0.0022039667752252333, + 0.9953818346839658, + -0.09596950407100997, + 0.03090839274227619 + ], + [ + -0.00013878267029795744, + 0.09597004069341174, + 0.9953842132707725, + 0.005079743918031454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1188.5714111328125, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999997666523209, + -0.002038787416771841, + 0.0007143486593333428, + 0.00030018165125511587 + ], + [ + 0.0021009094123074687, + 0.994804152702332, + -0.10178548003442002, + 0.032968584448099136 + ], + [ + -0.0005031180568779719, + 0.10178674330218643, + 0.9948061146576034, + 0.006394761614501476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999980979350052, + -0.0019374993038400292, + 0.00022410448403389172, + 0.001001867582090199 + ], + [ + 0.0019503236116767276, + 0.9944517588292302, + -0.10517554658407591, + 0.03408580273389816 + ], + [ + -1.908355002137764e-05, + 0.10517578360961718, + 0.9944536460679912, + 0.0073486496694386005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999955365115817, + -0.0029545923433735226, + -0.0004442307939168853, + 0.0013540779473260045 + ], + [ + 0.0028862860818233385, + 0.9937093469420939, + -0.11195268265017623, + 0.035783618688583374 + ], + [ + 0.0007722108310930081, + 0.11195090077351627, + 0.9937134393306912, + 0.009529261849820614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999975867187102, + -0.0021969359780165095, + 5.391127358639292e-06, + 0.0014136055251583457 + ], + [ + 0.0021830167586927417, + 0.993380017118388, + -0.11485371577664566, + 0.036239951848983765 + ], + [ + 0.0002469708222107774, + 0.11485345037124371, + 0.993382415761037, + 0.009689124301075935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999931549734367, + -0.003594294732085542, + -0.000878095467561423, + 0.0012824449222534895 + ], + [ + 0.00345891009159218, + 0.9923923779603967, + -0.12306666529603429, + 0.03939366713166237 + ], + [ + 0.001313753115898262, + 0.12306278564816708, + 0.9923980173505302, + 0.011682293377816677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999956955052342, + -0.002933474838815226, + -6.079779704882062e-05, + 0.0005826389533467591 + ], + [ + 0.0029030761979366906, + 0.9922136731921289, + -0.12451344858758333, + 0.0394422821700573 + ], + [ + 0.0004255814740575755, + 0.12451273611945818, + 0.9922179183145482, + 0.01119330246001482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999949773889015, + -0.003168282457773168, + 8.475398651568709e-05, + 0.00044763009645976126 + ], + [ + 0.0031523150308413973, + 0.9914696042657155, + -0.1302999874410314, + 0.040799856185913086 + ], + [ + 0.0003287961629868329, + 0.13029960016613396, + 0.99147461192389, + 0.01182558760046959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999952981927819, + -0.0030624408854792134, + -0.00015826607943007618, + 0.0006274728220887482 + ], + [ + 0.003012971267422522, + 0.9908246753856457, + -0.13511988991658952, + 0.04257531091570854 + ], + [ + 0.000570610612097863, + 0.1351187777577659, + 0.990829243765431, + 0.013044138438999653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999934447578575, + -0.003486833145726825, + -0.0009759282390798177, + 0.0008462199475616217 + ], + [ + 0.0033159618882831836, + 0.9901552269965085, + -0.13993438050832077, + 0.04311951994895935 + ], + [ + 0.0014542482832811936, + 0.13993022706372568, + 0.990160298495059, + 0.01244371011853218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1182.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999931597258238, + -0.0036917775624037297, + -0.00022645086155307788, + 0.00016816759307403117 + ], + [ + 0.0036222120634546353, + 0.989860079459159, + -0.14199965729844197, + 0.04354376345872879 + ], + [ + 0.0007483858164939309, + 0.1419978657288106, + 0.9898666809460417, + 0.012844715267419815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999992758850163, + -0.003749677950723527, + 0.0006497403363885585, + 0.00028628602740354836 + ], + [ + 0.0038046943196077994, + 0.988717645707401, + -0.1497429175886077, + 0.04532578960061073 + ], + [ + -8.092201935621937e-05, + 0.1497443053410715, + 0.9887247526331818, + 0.01377866230905056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1182.6285400390625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999960820105825, + -0.002790985663471948, + 0.00021531955669239943, + -0.00022620621894020587 + ], + [ + 0.0027909856637335167, + 0.9881628415857522, + -0.15338320934247193, + 0.04709342494606972 + ], + [ + 0.0002153195533019974, + 0.1533832093424768, + 0.9881667595751706, + 0.014937995932996273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999995528069218, + -0.0029674560735186216, + -0.0003715454453528217, + 0.00018049104255624115 + ], + [ + 0.0028694564376735847, + 0.9870513767030147, + -0.16037875784665484, + 0.049366891384124756 + ], + [ + 0.0008426513623786782, + 0.1603769745104808, + 0.987055477663513, + 0.015874970704317093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999996058428685, + -0.00278551890624093, + 0.0003521526912663094, + -0.0008149472996592522 + ], + [ + 0.00280563729185166, + 0.9865776865233686, + -0.16326848089445994, + 0.050497643649578094 + ], + [ + 0.0001073614528722226, + 0.16326882537282214, + 0.9865816130127799, + 0.014853139407932758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999953210779066, + -0.003059000652802417, + 1.8365747798734256e-05, + 0.00019945793610531837 + ], + [ + 0.003017095529305079, + 0.9852698904527978, + -0.17097994064128821, + 0.05247095972299576 + ], + [ + 0.0005049325317160818, + 0.17097919605068188, + 0.9852745097489334, + 0.016075002029538155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999922496132541, + -0.003934355892876816, + -0.000146823473687716, + 5.868998050573282e-05 + ], + [ + 0.003849710523319056, + 0.9849306019261924, + -0.1729071690769202, + 0.052702080458402634 + ], + [ + 0.0008248892718945619, + 0.17290526375161686, + 0.9849381144643925, + 0.016099978238344193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1176.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999940483789237, + -0.003357623924460934, + 0.0007934534091487485, + -0.0008883775444701314 + ], + [ + 0.0034455388605709627, + 0.9837272535176766, + -0.17963523860459382, + 0.054967787116765976 + ], + [ + -0.0001773941681611032, + 0.17963690335827692, + 0.983732967569532, + 0.017018819227814674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999918839568757, + -0.003961580628949529, + 0.0007334161843647763, + -0.0006257102359086275 + ], + [ + 0.004028893846171234, + 0.9830159242580936, + -0.18347604930721242, + 0.056850533932447433 + ], + [ + 5.895374472449604e-06, + 0.18347751506363588, + 0.9830239068462773, + 0.01744190976023674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999943149826352, + -0.0033463367129997644, + -0.00041476862618316764, + -0.00011743169307010248 + ], + [ + 0.0032063822214047828, + 0.9817437642019046, + -0.1901812308397582, + 0.05881204828619957 + ], + [ + 0.0010436069472244706, + 0.19017881974940962, + 0.981748912606101, + 0.019910356029868126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999941084068937, + -0.0034325239729912876, + -3.0506999743261567e-05, + -0.00018624599033501 + ], + [ + 0.0033613886866578594, + 0.980994583079324, + -0.19400600257497322, + 0.06033509597182274 + ], + [ + 0.0006958574562369034, + 0.194004757024662, + 0.9810003415056505, + 0.01958487555384636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999945804818928, + -0.003285779540557575, + 0.00020654213556746067, + -0.00020835823670495301 + ], + [ + 0.003261263019547228, + 0.9800377202283763, + -0.1987848864805449, + 0.06111150607466698 + ], + [ + 0.0004507442292971932, + 0.198784482750482, + 0.9800431246875123, + 0.02049178071320057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999994977228337, + -0.003138350718973375, + 0.00044302693225230444, + -0.0006260047666728497 + ], + [ + 0.003163217838903966, + 0.9794525339084094, + -0.20165001332333415, + 0.06144319102168083 + ], + [ + 0.00019892461291009213, + 0.20165040187205663, + 0.9794575416289552, + 0.021187711507081985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999951827683212, + -0.00296435430194066, + 0.0009203497840351141, + -0.001257286872714758 + ], + [ + 0.0030904895003332966, + 0.978459995352313, + -0.20641338708959625, + 0.0632844865322113 + ], + [ + -0.0002886430334124461, + 0.20641523707983317, + 0.9784644431896723, + 0.021710321307182312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999956835134302, + -0.002937269206039759, + 7.351271158778185e-05, + -0.0006910495576448739 + ], + [ + 0.0028845346761687653, + 0.976667847005168, + -0.21473610801631016, + 0.06592631340026855 + ], + [ + 0.0005589402557471874, + 0.2147353931607497, + 0.9766721038864015, + 0.023057198151946068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999918446460583, + -0.004025729491443953, + 0.000322712621270247, + -0.0007083081873133779 + ], + [ + 0.003999484956863074, + 0.9760290507559366, + -0.21760352984394699, + 0.06666258722543716 + ], + [ + 0.0005610360541296984, + 0.21760304589441623, + 0.9760371917381115, + 0.02411789260804653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999960278045893, + -0.002800720843745684, + 0.00031676142119238873, + -0.0006239750073291361 + ], + [ + 0.0028007208434373512, + 0.974735991866878, + -0.22334256674904196, + 0.06743396818637848 + ], + [ + 0.00031676142391856766, + 0.22334256674903766, + 0.9747399640622884, + 0.024907371029257774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999951150502439, + -0.002782669390548103, + 0.0014235964010712082, + -0.001224246108904481 + ], + [ + 0.0030318175051342847, + 0.9742983077872588, + -0.2252412385099595, + 0.06762559711933136 + ], + [ + -0.0007602356646449703, + 0.22524445430231524, + 0.9743019849347465, + 0.023967621847987175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999918371107643, + -0.004033846459703787, + 0.00023193658371286122, + -0.0009401150746271014 + ], + [ + 0.003976258771264351, + 0.9722717254023306, + -0.23382019020897235, + 0.07062295079231262 + ], + [ + 0.0007176893640513168, + 0.23381920380053342, + 0.9722798284732956, + 0.0258357971906662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999937274580462, + -0.003529045260313537, + 0.0003014699216537918, + -0.0007819340680725873 + ], + [ + 0.003500130486797982, + 0.9715822526138178, + -0.23667630952935426, + 0.07134954631328583 + ], + [ + 0.000542338582797367, + 0.23667588015133695, + 0.9715885104422812, + 0.02482554502785206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999932888934558, + -0.0036491955718184837, + 0.00032486878542805416, + -0.0004894593148492277 + ], + [ + 0.003619133695163591, + 0.9701791984220345, + -0.2423617643533631, + 0.0723305270075798 + ], + [ + 0.0005692445394174756, + 0.24236131358130794, + 0.9701858943727211, + 0.024737566709518433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999960096989131, + -0.0027621120141306027, + 0.000592725461781168, + -0.000670145615004003 + ], + [ + 0.0028229213524806683, + 0.9689861160061785, + -0.24709904512623584, + 0.07419784367084503 + ], + [ + 0.00010817249815436903, + 0.2470997323440095, + 0.9689900466848091, + 0.027172908186912537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999924872262173, + -0.0036417821518623895, + 0.0013277476729600447, + -0.001168475253507495 + ], + [ + 0.0038594877539335913, + 0.9672728428176225, + -0.2537091876574295, + 0.0761968269944191 + ], + [ + -0.00036034067479419547, + 0.2537124060235803, + 0.9672796313291849, + 0.02894747257232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999971085222716, + -0.002053926996163657, + 0.0012507321814239024, + -0.0019560710061341524 + ], + [ + 0.002305386125543745, + 0.9667809833500817, + -0.2555958047923717, + 0.07618573307991028 + ], + [ + -0.0006842089646953479, + 0.2555979491634125, + 0.9667829230192005, + 0.028919396921992302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999993634936903, + -0.0034391752504078733, + 0.0009498206553787778, + -0.0015598979080095887 + ], + [ + 0.0035678771776718183, + 0.9652678365396545, + -0.26123796430553436, + 0.07817291468381882 + ], + [ + -1.838818781162131e-05, + 0.26123969035284783, + 0.9652739631038555, + 0.028839711099863052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999969516836666, + -0.0024689046633508487, + -3.3662105864240657e-05, + -0.0011867848224937916 + ], + [ + 0.0023717005322831672, + 0.9642391514588261, + -0.2650230816939316, + 0.07992634922266006 + ], + [ + 0.0006867750426846317, + 0.2650221939833086, + 0.9642420676553759, + 0.02978556603193283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999983009563238, + -0.0017768795951230469, + 0.000490696821541675, + -0.0014325892552733421 + ], + [ + 0.0018433697857356897, + 0.9626800866638074, + -0.2706356457098686, + 0.08182773739099503 + ], + [ + 8.502897887414377e-06, + 0.2706360904237809, + 0.962681726474452, + 0.03004169464111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999986556483429, + -0.0013610009155660767, + -0.000914537049503503, + -0.0007069755811244249 + ], + [ + 0.001055381699870312, + 0.9610815471619663, + -0.2762628202893569, + 0.082880899310112 + ], + [ + 0.0012549386338244412, + 0.27626148370931036, + 0.9610816915058553, + 0.03157113492488861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999985420775422, + -0.0016690545760674378, + 0.00036069323898847423, + -0.0017005521804094315 + ], + [ + 0.0017032888782616254, + 0.9600040795118931, + -0.2799808317144587, + 0.0825328603386879 + ], + [ + 0.00012103630750289149, + 0.2799810378888989, + 0.9600055227824826, + 0.030872877687215805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999978256720385, + -0.002014701034493871, + 0.0005381737057913139, + -0.0012135978322476149 + ], + [ + 0.0020846016736083503, + 0.9589038523052296, + -0.2837235564242991, + 0.08372130244970322 + ], + [ + 5.5561302945648004e-05, + 0.28372406139404466, + 0.9589059671829199, + 0.03368314728140831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999973202762755, + -0.0020625933962248235, + 0.0010512605530733593, + -0.0016162582905963063 + ], + [ + 0.002279476379740774, + 0.9565560366373255, + -0.29153962468269173, + 0.08614964783191681 + ], + [ + -0.0004042619235126054, + 0.29154123976064267, + 0.9565581749643479, + 0.0355752594769001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9999984752274192, + -0.0016334500252041281, + 0.0006175628320865281, + -0.001431478071026504 + ], + [ + 0.0017429705652919755, + 0.9554069211576276, + -0.29528727886197764, + 0.08816955238580704 + ], + [ + -0.00010768679092561718, + 0.2952879050098699, + 0.9554083114346646, + 0.03555753827095032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999980917760575, + -0.0019308093452568016, + 0.0002973541930099691, + -0.0015256248880177736 + ], + [ + 0.0019308093462726361, + 0.953662065816805, + -0.30087362163754644, + 0.08881723135709763 + ], + [ + 0.0002973541864138531, + 0.30087362163755305, + 0.9536639740407473, + 0.038198426365852356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9999968406305529, + -0.0023163851939409187, + 0.0009762625395866323, + -0.001955671003088355 + ], + [ + 0.002503680531767188, + 0.95247806771379, + -0.3045968845999566, + 0.08983810991048813 + ], + [ + -0.00022430494367896243, + 0.3045983665153799, + 0.9524808579721978, + 0.038088131695985794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999954311928183, + -0.0027817820766741766, + 0.0011829124934156778, + -0.0020325374789536 + ], + [ + 0.0030109748241807293, + 0.9512807296734144, + -0.3083113805596935, + 0.09055370837450027 + ], + [ + -0.000267626787400635, + 0.3083135336641806, + 0.9512847593309843, + 0.04051588103175163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999969974739735, + -0.0023707920235506823, + 0.0006199904989109774, + -0.0019970936700701714 + ], + [ + 0.002446449893479042, + 0.951281947465827, + -0.30831261944419686, + 0.0908183678984642 + ], + [ + 0.00014115932972398102, + 0.3083132105032227, + 0.9512848912409152, + 0.039702147245407104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999955143111344, + -0.002800001139772588, + 0.0010636499550470068, + -0.0019762362353503704 + ], + [ + 0.0029918227818476824, + 0.9506719504005873, + -0.3101836419252082, + 0.0914124846458435 + ], + [ + -0.000142667626378635, + 0.3101854327900668, + 0.9506760630892035, + 0.041001271456480026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999986573198627, + -0.001332429011016464, + 0.000953934694867033, + -0.00222790171392262 + ], + [ + 0.0015626051649658636, + 0.9506749460500762, + -0.3101849532420666, + 0.0913202241063118 + ], + [ + -0.0004935823840975003, + 0.3101860273861725, + 0.9506757516581636, + 0.04129229485988617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999984791002221, + -0.0016256575134727558, + 0.0006316920858194969, + -0.0023847988341003656 + ], + [ + 0.001741597946301876, + 0.9500742789421723, + -0.3120189598872232, + 0.09219367802143097 + ], + [ + -9.291843646181734e-05, + 0.31201958549129577, + 0.9500756652161995, + 0.04165085777640343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999988961196213, + -0.0014087564180155312, + 0.00047240331693747896, + -0.001692369463853538 + ], + [ + 0.0014858242842881028, + 0.9500746306649094, + -0.3120192117372464, + 0.09181441366672516 + ], + [ + -9.2593397852571e-06, + 0.3120195692136811, + 0.9500756750606629, + 0.04281047359108925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999989811886586, + -0.0012474890175486618, + 0.0006938247587030275, + -0.0020409037824720144 + ], + [ + 0.001402223971591476, + 0.9494594215067031, + -0.3138866685287703, + 0.09270478039979935 + ], + [ + -0.00026718828228062646, + 0.3138873216351815, + 0.9494602034456812, + 0.04318653419613838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999972922421942, + -0.0022465148043061237, + 0.0006071898500078965, + -0.001866965088993311 + ], + [ + 0.0023238142240021146, + 0.950073163525106, + -0.31201856328887023, + 0.09164120256900787 + ], + [ + 0.00012407953998941747, + 0.31201912941458004, + 0.9500758114401375, + 0.043332118541002274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999966013597111, + -0.0024507389054284285, + 0.0008894649205424715, + -0.0022175111807882786 + ], + [ + 0.0026060708719942323, + 0.9494572206389789, + -0.31388563931966595, + 0.09108473360538483 + ], + [ + -7.52571431781429e-05, + 0.3138868905439068, + 0.9494603805746924, + 0.04496607556939125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1164.800048828125, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999965379014787, + -0.0024315300691931897, + 0.0010059058503069872, + -0.0026119702961295843 + ], + [ + 0.0026243821003756975, + 0.9494572441059935, + -0.31388541577021817, + 0.09171978384256363 + ], + [ + -0.00019184276973609096, + 0.31388696894929236, + 0.9494603382554624, + 0.0445980578660965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999959419276521, + -0.0028487089826843754, + -3.139043618403837e-05, + -0.0019073250005021691 + ], + [ + 0.0026930981591947235, + 0.9488500566722526, + -0.3157155637205229, + 0.09202820062637329 + ], + [ + 0.0009291665794961252, + 0.3157141979863978, + 0.9488538780229928, + 0.045094121247529984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999953075655176, + -0.0030534585146930896, + 0.0002474632184544872, + -0.002504616044461727 + ], + [ + 0.002975414032163946, + 0.9488493739864264, + -0.315715081041282, + 0.09229648858308792 + ], + [ + 0.0007292175825071658, + 0.3157143358744817, + 0.9488540068762172, + 0.045827362686395645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1158.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999960311955287, + -0.0027306335661538635, + 0.000693709967437243, + -0.0024976220447570086 + ], + [ + 0.0028095814658680896, + 0.9482281632313911, + -0.3175774814227374, + 0.09244813024997711 + ], + [ + 0.00020939240238920228, + 0.3175781700544763, + 0.9482320718366747, + 0.045319657772779465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999978302709286, + -0.0020428638191683423, + -0.0004076283254020151, + -0.0020779448095709085 + ], + [ + 0.001807654503252898, + 0.9482300405611288, + -0.3175791595219009, + 0.09335809201002121 + ], + [ + 0.0010352963982389947, + 0.31757773360998814, + 0.9482316759508259, + 0.045686110854148865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999987315085179, + -0.00158691508773462, + 0.0001366815968336765, + -0.0020235481206327677 + ], + [ + 0.0015474474518674423, + 0.947617823816187, + -0.31940266966989916, + 0.0934857577085495 + ], + [ + 0.0003773429982146143, + 0.3194024760179222, + 0.9476190774387578, + 0.046710338443517685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999983230251436, + -0.0017834927299510389, + 0.0004160535812232899, + -0.0019795510452240705 + ], + [ + 0.0018229603579232078, + 0.9476174259823513, + -0.31940239634372597, + 0.093524269759655 + ], + [ + 0.00017539222809842596, + 0.3194026191631237, + 0.9476190880883006, + 0.04659508913755417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1164.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9999973262253357, + -0.0022816238830148075, + 0.0003764766070384105, + -0.00248935935087502 + ], + [ + 0.0022816238783399645, + 0.9469881298204245, + -0.32126044912452706, + 0.09365446865558624 + ], + [ + 0.0003764766353701412, + 0.32126044912449386, + 0.9469908035950888, + 0.04614611342549324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1170.742919921875, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999970022699625, + -0.0023646792285424373, + 0.0006354079285738536, + -0.002342594787478447 + ], + [ + 0.002443766185929484, + 0.9476162498872289, + -0.31940173912565556, + 0.09379509091377258 + ], + [ + 0.0001531597796469923, + 0.3194023344338783, + 0.9476191879126721, + 0.04578535258769989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1176.685791015625, + "fy": 1170.742919921875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_004__fastmo/caption.txt b/camxtime_eval/target/eval_scene_004__fastmo/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..7775f2d0d93042598179b0d270a886c4629860ae --- /dev/null +++ b/camxtime_eval/target/eval_scene_004__fastmo/caption.txt @@ -0,0 +1 @@ +Through a dense, out-of-focus canopy of vibrant green leaves, the lower legs and feet of a person are visible walking away on a light-colored, textured gravel path. The person wears light gray socks and white sneakers, their right foot lifted mid-stride. The scene is bathed in soft, natural daylight, creating a quiet, secluded atmosphere as the person moves deeper into the foliage. The camera sweeps along an arc around the scene. Scene time advances in fast motion at double speed. diff --git a/camxtime_eval/target/eval_scene_004__fastmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_004__fastmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..365c91139e8d01c706da0c5d489dac28812eab52 --- /dev/null +++ b/camxtime_eval/target/eval_scene_004__fastmo/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "fastmo", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 2, + 6, + 8, + 12, + 14, + 18, + 20, + 24, + 26, + 30, + 32, + 36, + 38, + 42, + 44, + 48, + 50, + 54, + 56, + 60, + 62, + 66, + 68, + 72, + 74, + 78, + 80, + 84, + 86, + 90, + 92, + 96, + 98, + 102, + 104, + 108, + 110, + 114, + 116, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119 + ], + "timestamps_seconds": [ + 0.0, + 0.06666667014360428, + 0.20000000298023224, + 0.2666666805744171, + 0.4000000059604645, + 0.46666666865348816, + 0.6000000238418579, + 0.6666666865348816, + 0.800000011920929, + 0.8666666746139526, + 1.0, + 1.0666667222976685, + 1.2000000476837158, + 1.2666666507720947, + 1.399999976158142, + 1.4666666984558105, + 1.600000023841858, + 1.6666666269302368, + 1.7999999523162842, + 1.8666666746139526, + 2.0, + 2.066666603088379, + 2.200000047683716, + 2.2666666507720947, + 2.4000000953674316, + 2.4666666984558105, + 2.5999999046325684, + 2.6666667461395264, + 2.799999952316284, + 2.866666555404663, + 3.0, + 3.066666603088379, + 3.200000047683716, + 3.2666666507720947, + 3.4000000953674316, + 3.4666666984558105, + 3.5999999046325684, + 3.6666667461395264, + 3.799999952316284, + 3.866666555404663, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene004_traj01_fastmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0010115077199879252, + "max_input_determinant_error": 0.0005094311257691775, + "max_rotation_element_change": 0.0005072735203778822, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_004__fastmo/transforms.json b/camxtime_eval/target/eval_scene_004__fastmo/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..72d45e444bb36dbe335262baa061d3338599d647 --- /dev/null +++ b/camxtime_eval/target/eval_scene_004__fastmo/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999329447612, + 0.00036621095659892025, + -8.940699136585587e-08, + -0.0008087157621048391 + ], + [ + -0.0003662109565992883, + 0.9999998137354403, + -0.0004882812918367361, + 4.3027108631576994e-07 + ], + [ + -8.940698426045365e-08, + 0.0004882812918367373, + 0.9999998807906789, + -0.0002746580867096782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999963864742262, + 0.0020753481898544064, + -0.0017087914973068974, + 0.002694968832656741 + ], + [ + -0.0020750352665453668, + 0.9999978300220203, + 0.00018487805154428566, + -0.0023858738131821156 + ], + [ + 0.0017091714755965845, + -0.00018133158086252953, + 0.9999985229247718, + 0.0005238466546870768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999890031199918, + 0.002934456635836445, + -0.003658224068637556, + 0.00522360485047102 + ], + [ + -0.002924845547136762, + 0.9999922645732184, + 0.002629842628622251, + -0.005715878214687109 + ], + [ + 0.003665912929865918, + -0.0026191139681808967, + 0.9999898506107007, + 0.002384008141234517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999988548655043, + 0.002935018208610321, + -0.003779977102588758, + 0.0060725463554263115 + ], + [ + -0.002924278386276464, + 0.9999916811198086, + 0.002843639762398314, + -0.00681496225297451 + ], + [ + 0.00378829179189351, + -0.0028325534935571364, + 0.9999888126804247, + 0.0029262646567076445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999724486194902, + 0.005259126198014467, + -0.00523866333860151, + 0.007305752951651812 + ], + [ + -0.005238663028775848, + 0.9999786250312673, + 0.0039122743062417744, + -0.008702929131686687 + ], + [ + 0.0052591265066342496, + -0.003884722925731278, + 0.999978625029644, + 0.0006674497853964567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999695880725936, + 0.00501776563799682, + -0.0059703398504497105, + 0.00910722091794014 + ], + [ + -0.00499166373465998, + 0.999977954337584, + 0.004378827694833143, + -0.009015606716275215 + ], + [ + 0.00599218016149443, + -0.0043488925973280915, + 0.9999725900793929, + 0.0005363362724892795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999553420966453, + 0.005512602811242741, + -0.007676263585005463, + 0.010589336976408958 + ], + [ + -0.005473409866226122, + 0.9999719265355158, + 0.00511741392553474, + -0.011391548439860344 + ], + [ + 0.007704258356084078, + -0.005075170055715973, + 0.9999574426204789, + 0.003908923361450434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999541945300668, + 0.005882237935721543, + -0.007550372083105957, + 0.012243921868503094 + ], + [ + -0.005836275986382886, + 0.9999643935372461, + 0.006095042272175468, + -0.012145623564720154 + ], + [ + 0.007585955729936641, + -0.006050697030623046, + 0.9999529200622935, + 0.001967048505321145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999263330981272, + 0.007861206126129432, + -0.009248233083984099, + 0.014397264458239079 + ], + [ + -0.007793260638863139, + 0.9999425453502501, + 0.007360101023648553, + -0.01425922941416502 + ], + [ + 0.009305561001247718, + -0.00728748493693598, + 0.99993014710916, + 0.0020696278661489487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999109237737798, + 0.008592106023925856, + -0.010213727622208945, + 0.01619759574532509 + ], + [ + -0.008496980411431753, + 0.9999204597903643, + 0.009320698284749863, + -0.015863873064517975 + ], + [ + 0.010292999648051953, + -0.009233082188587935, + 0.9999043976058632, + 0.002587028546258807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998765977369504, + 0.01103619294955225, + -0.011179970624367689, + 0.01749696396291256 + ], + [ + -0.010934752429874352, + 0.9998988576108141, + 0.009094269508128364, + -0.016409536823630333 + ], + [ + 0.011279205968454782, + -0.008970897043739429, + 0.9998961458666354, + 0.0023132592905312777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998460541622296, + 0.011791474860701472, + -0.012993425138481465, + 0.019399331882596016 + ], + [ + -0.011643212944985139, + 0.9998669127060819, + 0.011427706153268513, + -0.01838267780840397 + ], + [ + 0.013126445388512598, + -0.0112746616896989, + 0.999850278009285, + 0.0032548082526773214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99983684987779, + 0.01216445007188037, + -0.013352894102261864, + 0.019724862650036812 + ], + [ + -0.012002201309523468, + 0.9998539759906809, + 0.012164450639144215, + -0.02070676162838936 + ], + [ + 0.013498918111580709, + -0.012002201884455608, + 0.9998368498708883, + 0.0036284844391047955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998258533997179, + 0.011812678365370224, + -0.014447266293748826, + 0.021633537486195564 + ], + [ + -0.011621191791797996, + 0.9998444542258819, + 0.013267074096658681, + -0.022278251126408577 + ], + [ + 0.014601738761682841, + -0.013096869228342358, + 0.9998076121142262, + 0.005797029007226229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997759739425267, + 0.014401970133611558, + -0.015510808603762295, + 0.02372906170785427 + ], + [ + -0.01415786941138122, + 0.9997759739351485, + 0.015733933893219042, + -0.025532638654112816 + ], + [ + 0.015733933424362745, + -0.015510809079362437, + 0.9997558992777696, + 0.005379268433898687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997501239531272, + 0.01575839363418378, + -0.01585442164752359, + 0.024547381326556206 + ], + [ + -0.01548516609610524, + 0.9997319568846494, + 0.01721115959392002, + -0.026439329609274864 + ], + [ + 0.01612139220673486, + -0.016961350584828696, + 0.9997261691581631, + 0.00455358624458313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9996185945516503, + 0.019710432206607748, + -0.019343326725528243, + 0.028167318552732468 + ], + [ + -0.019343327086770414, + 0.9996326267868086, + 0.018985446018422676, + -0.03016495332121849 + ], + [ + 0.019710431852093643, + -0.0186040405700739, + 0.999632626793799, + 0.0035600941628217697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999599173356247, + 0.019857188651251082, + -0.020178817715033534, + 0.03002619743347168 + ], + [ + -0.019439217422528722, + 0.9995966780970792, + 0.02070260764456583, + -0.03322448208928108 + ], + [ + 0.02058177474144499, + -0.02030204906293443, + 0.9995820213230823, + 0.004988562781363726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995693461023385, + 0.02133419528581577, + -0.020148807509366075, + 0.03157547861337662 + ], + [ + -0.020888884842031632, + 0.9995384248711023, + 0.022058823546435038, + -0.03592453524470329 + ], + [ + 0.020610114570257763, + -0.0216284377083293, + 0.9995536173010918, + 0.007719310000538826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995226111402802, + 0.021745667313819037, + -0.021947113076503447, + 0.03348430246114731 + ], + [ + -0.021206202038592636, + 0.9994743776634449, + 0.024520713475932855, + -0.03744032606482506 + ], + [ + 0.022468796461192844, + -0.024043592646423306, + 0.9994583827444935, + 0.00715077668428421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993585618986157, + 0.02593521049789834, + -0.024694728513616197, + 0.037955597043037415 + ], + [ + -0.025312274838607752, + 0.9993616063365451, + 0.02521246760900423, + -0.03945574536919594 + ], + [ + 0.025332854210023317, + -0.024571215616448677, + 0.9993770569012997, + 0.005307497922331095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993737857106377, + 0.02485859967023107, + -0.02518107338505051, + 0.03840971365571022 + ], + [ + -0.024192400222857544, + 0.9993580375355001, + 0.026424242366641246, + -0.04134435951709747 + ], + [ + 0.025821777743703152, + -0.025798504523113074, + 0.9993336144444084, + 0.006428356282413006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9992950547520174, + 0.02627228885559597, + -0.02681716589147247, + 0.042384665459394455 + ], + [ + -0.025455350965978292, + 0.9992147455504584, + 0.030363092427008118, + -0.04638226702809334 + ], + [ + 0.02759381552742376, + -0.02965904773960749, + 0.9991791241973673, + 0.00593892065808177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992801300772721, + 0.0256819853247837, + -0.02792234342830734, + 0.043603215366601944 + ], + [ + -0.0248250888726714, + 0.9992229509157533, + 0.030613874725011862, + -0.0471106618642807 + ], + [ + 0.02868687147833889, + -0.029898662060238043, + 0.9991411979354039, + 0.0063894023187458515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991588901990257, + 0.02841324551693176, + -0.0295668668520389, + 0.04803638532757759 + ], + [ + -0.027460749884112144, + 0.9991061545603153, + 0.03213719240230662, + -0.049539756029844284 + ], + [ + 0.03045356058088933, + -0.03129823315932002, + 0.9990460456100367, + 0.006712537724524736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1794.742919921875, + "fy": 1818.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991071166970159, + 0.02870871106985474, + -0.03099643970011893, + 0.05029597878456116 + ], + [ + -0.027648417272059498, + 0.9990355665440794, + 0.0341101422204712, + -0.0511939562857151 + ], + [ + 0.031945803914216864, + -0.03322268334524323, + 0.9989372947906268, + 0.010428574867546558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990126466246338, + 0.028467142229578395, + -0.03410797116988228, + 0.054518721997737885 + ], + [ + -0.027147990044283796, + 0.9988884438353876, + 0.03853392542518767, + -0.05686476081609726 + ], + [ + 0.03516700898000891, + -0.03756991596210218, + 0.9986750136525901, + 0.010964986868202686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9989921833534796, + 0.028606085994932175, + -0.034587706525563276, + 0.05713032931089401 + ], + [ + -0.027251106458040658, + 0.9988663133125418, + 0.03903159394929278, + -0.05863422900438309 + ], + [ + 0.0356650360361582, + -0.03804970398650352, + 0.998639186709133, + 0.011637777090072632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1818.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998824762903296, + 0.0316749551274014, + -0.03668501368205463, + 0.059138718992471695 + ], + [ + -0.030153475634033283, + 0.9986912639832812, + 0.04131013375267749, + -0.06162622943520546 + ], + [ + 0.03794549931629847, + -0.04015540388482555, + 0.9984726749493368, + 0.015713969245553017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986289733163444, + 0.03405053275086761, + -0.03975845661650171, + 0.06321841478347778 + ], + [ + -0.03228129526225411, + 0.9984955039382964, + 0.044324334075056815, + -0.06551606953144073 + ], + [ + 0.041207907364185774, + -0.042980109753095845, + 0.9982257352604548, + 0.016435975208878517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984319570775754, + 0.03800989575839828, + -0.04109592328538942, + 0.06519860029220581 + ], + [ + -0.03610558682528877, + 0.9982828426366093, + 0.04612756981862297, + -0.06867124885320663 + ], + [ + 0.042778659238508314, + -0.04457144738289447, + 0.99808986188216, + 0.018398400396108627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9984226882515009, + 0.0366463734404378, + -0.04253444366992654, + 0.06660650670528412 + ], + [ + -0.03454866761331195, + 0.9981987636022036, + 0.04904709888645099, + -0.07147935777902603 + ], + [ + 0.04425522738379084, + -0.047500227964678496, + 0.9978903763402635, + 0.019124988466501236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9985193959387593, + 0.03574003340366802, + -0.041008120493386827, + 0.06893465667963028 + ], + [ + -0.03349786026959423, + 0.9979724741525947, + 0.05411870463256896, + -0.07777475565671921 + ], + [ + 0.04285917978046456, + -0.05266489196849426, + 0.9976920866993443, + 0.019467419013381004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982748143104148, + 0.03643253492586756, + -0.04604416914639654, + 0.0724688321352005 + ], + [ + -0.03375643232458541, + 0.9977677922561435, + 0.05761888590572156, + -0.08266452699899673 + ], + [ + 0.04804059106861845, + -0.05596519574857533, + 0.9972762899390524, + 0.021824628114700317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1759.085693359375, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9974143847705603, + 0.05228743194648742, + -0.049300806415376354, + 0.07753267139196396 + ], + [ + -0.04904926960405832, + 0.996695385311213, + 0.064749347878119, + -0.09079696983098984 + ], + [ + 0.052523463367083696, + -0.06216376243258367, + 0.9966829748902869, + 0.02338622324168682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1806.628662109375, + "fy": 1818.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9975185755743543, + 0.04701189781601592, + -0.052407755607806576, + 0.08029347658157349 + ], + [ + -0.043614124262719337, + 0.9969839863596188, + 0.06419298331811489, + -0.09242037683725357 + ], + [ + 0.05526752707428807, + -0.061747974915945185, + 0.9965604286970625, + 0.023964086547493935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1759.085693359375, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9974571305479283, + 0.04526320059224765, + -0.05505011708651738, + 0.08555731177330017 + ], + [ + -0.04145525330278382, + 0.9967928658487909, + 0.06845030727874704, + -0.09778019040822983 + ], + [ + 0.057971843964939984, + -0.06599413053521348, + 0.996134549166028, + 0.02470419369637966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9970970270172106, + 0.04934983472494393, + -0.057983726389915086, + 0.08868339657783508 + ], + [ + -0.04512597755951798, + 0.9963814697971267, + 0.0720250844790596, + -0.10349862277507782 + ], + [ + 0.06132833653978958, + -0.06919942526884548, + 0.9957159608441173, + 0.026689080521464348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1747.2000732421875, + "fy": 1759.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9972067982491906, + 0.04522241348608601, + -0.05944354333390942, + 0.09363564103841782 + ], + [ + -0.040478134653463754, + 0.9960740946955258, + 0.07872686003813688, + -0.113532155752182 + ], + [ + 0.06277039222892399, + -0.07610079628349377, + 0.9951223777327314, + 0.02624066174030304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9969806802751181, + 0.04885200423715881, + -0.06035730974931953, + 0.09882739931344986 + ], + [ + -0.043619687793344276, + 0.9954122122280827, + 0.08515779813972105, + -0.1204051673412323 + ], + [ + 0.06424053233725462, + -0.0822679125127587, + 0.994537653674218, + 0.026373237371444702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9957851101253076, + 0.06504401112894448, + -0.06466290334486252, + 0.1029140055179596 + ], + [ + -0.05867526930313402, + 0.9936566930629612, + 0.09593533813660472, + -0.12962305545806885 + ], + [ + 0.07049274590292245, + -0.09173686798358521, + 0.9932850143979965, + 0.03161156177520752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1759.085693359375, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.993343005868089, + 0.0917732075464251, + -0.06962292057642744, + 0.10686475038528442 + ], + [ + -0.08394081480846416, + 0.9905880362289002, + 0.1081169833535108, + -0.13681654632091522 + ], + [ + 0.07888987452291918, + -0.10155304454723658, + 0.9916972153036158, + 0.03133361414074898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9961578705015437, + 0.058363782027544484, + -0.0652929244656095, + 0.11001897603273392 + ], + [ + -0.05151807431309495, + 0.9934473921940725, + 0.10202042423881114, + -0.13454686105251312 + ], + [ + 0.07081938334171566, + -0.0982646828226599, + 0.9926372283230472, + 0.03679708018898964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9937245110259102, + 0.08526958551109946, + -0.07239263756129878, + 0.12210281193256378 + ], + [ + -0.07603616457764137, + 0.9896236936093246, + 0.12191573615969692, + -0.14927002787590027 + ], + [ + 0.08203717366315136, + -0.11564619679783827, + 0.9898968932689699, + 0.03683634102344513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1818.5142822265625, + "fy": 1830.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9901728793515532, + 0.11683269099232016, + -0.07686215786814676, + 0.12369844317436218 + ], + [ + -0.10545769621369801, + 0.9847586370435067, + 0.1383079935416405, + -0.1574510931968689 + ], + [ + 0.0918495688936779, + -0.1288431181076736, + 0.9874022015421768, + 0.03843427449464798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1830.4000244140625, + "fy": 1842.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9856521494636404, + 0.13147086927560533, + -0.10585485718484064, + 0.1415233612060547 + ], + [ + -0.11780710311943249, + 0.9849627492385429, + 0.12637194731054513, + -0.1569267213344574 + ], + [ + 0.12087732091800324, + -0.11208832742247875, + 0.9863188531825385, + 0.05044931545853615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1806.628662109375, + "fy": 1830.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.985636455914989, + 0.13405946771873387, + -0.10270752594776249, + 0.14308315515518188 + ], + [ + -0.11882204978334882, + 0.9826598169236797, + 0.14234115599082792, + -0.16232560575008392 + ], + [ + 0.12000873825111204, + -0.12809271376035195, + 0.9844745600699316, + 0.0559350848197937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1759.085693359375, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9914904115873621, + 0.09317120671361402, + -0.09091693994989401, + 0.13607476651668549 + ], + [ + -0.08052439910843875, + 0.98769964945036, + 0.1340344120883164, + -0.16437672078609467 + ], + [ + 0.10228677763302776, + -0.12557280245007096, + 0.9867972873930526, + 0.06002545729279518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1747.2000732421875, + "fy": 1759.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9922624903170397, + 0.08728121009565734, + -0.08830141943402628, + 0.13879428803920746 + ], + [ + -0.0736625485888765, + 0.9863597647335487, + 0.14720137040859937, + -0.17124304175376892 + ], + [ + 0.09994488103558657, + -0.1395578907801917, + 0.9851571528826081, + 0.059224728494882584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9911021682941311, + 0.0933254665090465, + -0.09490442193882234, + 0.13975316286087036 + ], + [ + -0.07857056233794212, + 0.9857388733396766, + 0.14881377732227904, + -0.17584668099880219 + ], + [ + 0.107439093148503, + -0.14003296357605982, + 0.9843005691228336, + 0.05459842458367348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9903191511178759, + 0.09859100107862151, + -0.09771281101004199, + 0.14170202612876892 + ], + [ + -0.08252156502312917, + 0.9841951562923079, + 0.15668466943799012, + -0.1798924207687378 + ], + [ + 0.11161617371735344, + -0.14710441474365735, + 0.9828031954199292, + 0.05311712250113487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9883706102688107, + 0.12190197397720963, + -0.09090349551760135, + 0.14108571410179138 + ], + [ + -0.10774485329295934, + 0.983243153350648, + 0.1470508346727516, + -0.19165678322315216 + ], + [ + 0.1073060266049282, + -0.13554633941768415, + 0.9849429458221067, + 0.05478239804506302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1818.5142822265625, + "fy": 1830.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9843439173068697, + 0.1411495328569316, + -0.10556449135592678, + 0.14773453772068024 + ], + [ + -0.12298285268005044, + 0.9790454649131087, + 0.1623120315311009, + -0.19845174252986908 + ], + [ + 0.12626270394555358, + -0.14678823865468932, + 0.9810764203592965, + 0.06220024824142456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1830.4000244140625, + "fy": 1842.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9676096151542632, + 0.20760448050246677, + -0.1436384779100595, + 0.16403736174106598 + ], + [ + -0.17292508638997847, + 0.9595857965005428, + 0.22201804803086675, + -0.21208244562149048 + ], + [ + 0.18392538475707004, + -0.18998810181092599, + 0.9644044659852238, + 0.08461319655179977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1889.82861328125, + "fy": 1901.71435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9750786593466952, + 0.1683245408448338, + -0.14452839525860403, + 0.16847452521324158 + ], + [ + -0.13913439087972185, + 0.9713621164526968, + 0.1926064900128402, + -0.20259051024913788 + ], + [ + 0.17280980690105627, + -0.16769760782406265, + 0.9705742027114189, + 0.0790036991238594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.05712890625, + "fy": 1866.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9802210167681223, + 0.15647830526989503, + -0.1211664073327662, + 0.15532022714614868 + ], + [ + -0.13412824437140353, + 0.9754521147565842, + 0.1746504677312742, + -0.20431268215179443 + ], + [ + 0.14552103747538872, + -0.15494422156624316, + 0.9771468241033774, + 0.08017555624246597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1830.4000244140625, + "fy": 1842.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.97752599142742, + 0.16351781260069725, + -0.13305961463239457, + 0.15674720704555511 + ], + [ + -0.13830742013444494, + 0.9737822072726382, + 0.18060805722608925, + -0.2059638649225235 + ], + [ + 0.15910371969125195, + -0.15814593817582315, + 0.9745131444053978, + 0.07951387763023376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1877.94287109375, + "fy": 1877.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9853911886082036, + 0.13504426632464742, + -0.10376536775894446, + 0.14117313921451569 + ], + [ + -0.1174736761684063, + 0.9801056723370256, + 0.15997751860891898, + -0.192527174949646 + ], + [ + 0.12330507216165817, + -0.14545073800302352, + 0.9816516398364458, + 0.08228150010108948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1794.742919921875, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.986642570780581, + 0.1247115041095607, + -0.10480209094391879, + 0.1419743001461029 + ], + [ + -0.1063755046431785, + 0.9804898027491722, + 0.16529972388603031, + -0.2018238753080368 + ], + [ + 0.12337215867202603, + -0.15194336921241317, + 0.9806592287930523, + 0.09975963085889816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1759.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9881556483166051, + 0.12353353745094132, + -0.09103779338740206, + 0.13653743267059326 + ], + [ + -0.10891574531506326, + 0.9825136780414097, + 0.15101070453450266, + -0.1821296066045761 + ], + [ + 0.10810076374593688, + -0.13930663152341094, + 0.984331187807816, + 0.07730986177921295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1759.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9875796727071475, + 0.13142187968444655, + -0.0861085338154695, + 0.12988334894180298 + ], + [ + -0.11764544801255547, + 0.9817889902429999, + 0.14916409487391416, + -0.17681962251663208 + ], + [ + 0.10414383619575418, + -0.13718115095681274, + 0.9850560355657925, + 0.06899648159742355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1794.742919921875, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9806148408183479, + 0.16599872686380895, + -0.10411030999089822, + 0.14051154255867004 + ], + [ + -0.14851072537127008, + 0.9762468661956559, + 0.1577549387273211, + -0.185235857963562 + ], + [ + 0.12782448285248646, + -0.13923533647302425, + 0.9819747566311154, + 0.0818447396159172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.985458019683064, + 0.1339985420677059, + -0.10448388471943075, + 0.13602738082408905 + ], + [ + -0.1165751213207399, + 0.9805314301281572, + 0.15801378300605873, + -0.1811346560716629 + ], + [ + 0.1236233494587035, + -0.1435357281465512, + 0.9818934576694412, + 0.08014575392007828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9861538283824519, + 0.12068758368483797, + -0.11373273016572086, + 0.14574217796325684 + ], + [ + -0.10162513154887882, + 0.9817684615602482, + 0.1606331862452374, + -0.18396826088428497 + ], + [ + 0.13104563863138047, + -0.14685092791650772, + 0.9804396185210769, + 0.08661559969186783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1806.628662109375, + "fy": 1818.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.984247650241948, + 0.13673421954087472, + -0.11207281650673218, + 0.1438588798046112 + ], + [ + -0.1176034448603464, + 0.9796844471742319, + 0.16244326308560442, + -0.187768816947937 + ], + [ + 0.1320075480803402, + -0.1467042506932477, + 0.980332530358118, + 0.09186023473739624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.981548028051729, + 0.15047073748344977, + -0.11799163440240555, + 0.16046728193759918 + ], + [ + -0.12859054437572065, + 0.9761183699020599, + 0.1750925464915669, + -0.21456444263458252 + ], + [ + 0.14152010643339694, + -0.15668913523576647, + 0.9774561751680474, + 0.11317721754312515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1759.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9824853073263338, + 0.14328106447264652, + -0.11913503872272477, + 0.15702617168426514 + ], + [ + -0.12018819742258142, + 0.9758412050171622, + 0.1824520205176228, + -0.21966619789600372 + ], + [ + 0.14239879946189996, + -0.16493780389661333, + 0.9759703390767422, + 0.10974360257387161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1759.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9823625132177615, + 0.14339393969056688, + -0.12000862754194588, + 0.156044140458107 + ], + [ + -0.12000862754194598, + 0.9756781174417075, + 0.1834397461318124, + -0.2203313112258911 + ], + [ + 0.1433939396905667, + -0.16580225934957402, + 0.9756781174417076, + 0.12215105444192886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1747.2000732421875, + "fy": 1747.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9828528152603162, + 0.1368899283002656, + -0.12353740755260399, + 0.15922950208187103 + ], + [ + -0.11240997893833553, + 0.9758971386322124, + 0.18705285735466373, + -0.22766877710819244 + ], + [ + 0.14616545477626725, + -0.1699585900724327, + 0.9745510440662603, + 0.13656024634838104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9836908806683484, + 0.1337965381648086, + -0.12021122104463264, + 0.14734996855258942 + ], + [ + -0.1095476871501618, + 0.9757359557175368, + 0.18957491648431396, + -0.22275123000144958 + ], + [ + 0.142658878202441, + -0.17331425531414688, + 0.9744796628842098, + 0.12712237238883972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1747.2000732421875, + "fy": 1735.3143310546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9827388019317532, + 0.13765592321283995, + -0.12359326026188862, + 0.154149129986763 + ], + [ + -0.11185324753203481, + 0.9742593822229334, + 0.19572303688407805, + -0.2328300178050995 + ], + [ + 0.14735432872596427, + -0.17852031524453904, + 0.9728397601099119, + 0.13377203047275543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1770.971435546875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9803376092435213, + 0.14789414760744848, + -0.1306349608878267, + 0.17540641129016876 + ], + [ + -0.11877950620896137, + 0.9709258238029542, + 0.20783280197627768, + -0.2480342835187912 + ], + [ + 0.15757411211062897, + -0.1882295560639234, + 0.9694018946837919, + 0.13493512570858002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1735.3143310546875, + "fy": 1735.3143310546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9796814422730479, + 0.15188673335961644, + -0.13097592105095027, + 0.17168863117694855 + ], + [ + -0.12231987639439595, + 0.9700279136495157, + 0.2099611739813514, + -0.25178417563438416 + ], + [ + 0.15894061628375455, + -0.18967410727379827, + 0.9688971119397704, + 0.13670115172863007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1735.3143310546875, + "fy": 1735.3143310546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9757771643160148, + 0.1667749369989922, + -0.1415805282811892, + 0.19324228167533875 + ], + [ + -0.13183777369781885, + 0.9647435461646836, + 0.22779089437463249, + -0.2800915241241455 + ], + [ + 0.1745787129801371, + -0.20360749132233366, + 0.9633619581712916, + 0.17406435310840607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1723.4285888671875, + "fy": 1735.3143310546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9769745574390695, + 0.16468552502607625, + -0.13564435839215916, + 0.17366404831409454 + ], + [ + -0.13243308496893733, + 0.9665501949127051, + 0.21964106792633836, + -0.2651437819004059 + ], + [ + 0.16727878563148743, + -0.19661993429227315, + 0.9661047610464183, + 0.15301230549812317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1747.2000732421875, + "fy": 1770.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9757717681200039, + 0.1764296822737144, + -0.12939097245464318, + 0.1693759262561798 + ], + [ + -0.14343905120939848, + 0.9624213013478204, + 0.23058724444364978, + -0.2821924686431885 + ], + [ + 0.16521106236602234, + -0.20644080489274422, + 0.9644104411230349, + 0.14408338069915771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1759.085693359375, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9765675103994583, + 0.17645186813723068, + -0.12320972308663733, + 0.15142092108726501 + ], + [ + -0.14591465215717103, + 0.9636956988908589, + 0.22360571152166756, + -0.2608743906021118 + ], + [ + 0.158192325724279, + -0.2003879691252461, + 0.9668608224102384, + 0.14629501104354858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1747.2000732421875, + "fy": 1782.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9679903739415356, + 0.22314509775662963, + -0.11489517528473792, + 0.15223854780197144 + ], + [ + -0.19222421514859858, + 0.953462245468409, + 0.23229205233249986, + -0.267787367105484 + ], + [ + 0.16138304454629626, + -0.2027708357075136, + 0.9658361668106266, + 0.11733482033014297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1818.5142822265625, + "fy": 1842.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9817252043241483, + 0.13657091140504024, + -0.13252927734167655, + 0.16194690763950348 + ], + [ + -0.10886362711251109, + 0.9742342797166178, + 0.1975253880313876, + -0.2652598023414612 + ], + [ + 0.15609078732141274, + -0.17948803409430608, + 0.9712979520880003, + 0.14135043323040009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1842.2857666015625, + "fy": 1854.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9796514683951733, + 0.15257918677753074, + -0.130393988486774, + 0.16773197054862976 + ], + [ + -0.12200215705776753, + 0.9685713489589252, + 0.21676027230361994, + -0.23829646408557892 + ], + [ + 0.1593689873985316, + -0.19644117118922666, + 0.9674773341620833, + 0.12862813472747803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1842.2857666015625, + "fy": 1854.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9792018971471305, + 0.1525508208466229, + -0.13376057596497506, + 0.17600658535957336 + ], + [ + -0.12208764700003838, + 0.9696009994040702, + 0.21205779496312302, + -0.20099608600139618 + ], + [ + 0.1620439788250527, + -0.19131688115179313, + 0.9680597088573084, + 0.11742197722196579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1782.857177734375, + "fy": 1806.628662109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_019__fastmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_019__fastmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..b4885556828147afe88081cede45e14c18ea6465 --- /dev/null +++ b/camxtime_eval/target/eval_scene_019__fastmo/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "fastmo", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 2, + 6, + 8, + 12, + 14, + 18, + 20, + 24, + 26, + 30, + 32, + 36, + 38, + 42, + 44, + 48, + 50, + 54, + 56, + 60, + 62, + 66, + 68, + 72, + 74, + 78, + 80, + 84, + 86, + 90, + 92, + 96, + 98, + 102, + 104, + 108, + 110, + 114, + 116, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119 + ], + "timestamps_seconds": [ + 0.0, + 0.06666667014360428, + 0.20000000298023224, + 0.2666666805744171, + 0.4000000059604645, + 0.46666666865348816, + 0.6000000238418579, + 0.6666666865348816, + 0.800000011920929, + 0.8666666746139526, + 1.0, + 1.0666667222976685, + 1.2000000476837158, + 1.2666666507720947, + 1.399999976158142, + 1.4666666984558105, + 1.600000023841858, + 1.6666666269302368, + 1.7999999523162842, + 1.8666666746139526, + 2.0, + 2.066666603088379, + 2.200000047683716, + 2.2666666507720947, + 2.4000000953674316, + 2.4666666984558105, + 2.5999999046325684, + 2.6666667461395264, + 2.799999952316284, + 2.866666555404663, + 3.0, + 3.066666603088379, + 3.200000047683716, + 3.2666666507720947, + 3.4000000953674316, + 3.4666666984558105, + 3.5999999046325684, + 3.6666667461395264, + 3.799999952316284, + 3.866666555404663, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene019_traj01_fastmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0009656076418149695, + "max_input_determinant_error": 0.0005065643079180671, + "max_rotation_element_change": 0.0004979096688864648, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_029__bullettime_early/transforms.json b/camxtime_eval/target/eval_scene_029__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a5709980b2cb1f1c7404702eece1b0d6bc9b702b --- /dev/null +++ b/camxtime_eval/target/eval_scene_029__bullettime_early/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999031425294, + 0.000244320719390176, + 0.000366090586854425, + -0.00021381645638030022 + ], + [ + -0.00024396029776587144, + 0.9999994858810072, + -0.0009842363000351893, + 0.0003059486043639481 + ], + [ + -0.00036633086796081026, + 0.0009841468931359753, + 0.9999994486281418, + -0.0007320428849197924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1533.2572021484375, + "fy": 1515.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999998897209442, + 0.0002397391506903546, + 0.0014656415110624588, + -0.0002657256554812193 + ], + [ + -0.0002494844050285674, + 0.9999778402484859, + 0.006652576155559107, + -0.0026419740170240402 + ], + [ + -0.0014640141498533082, + -0.006652934473860762, + 0.9999767972935447, + 0.006548880133777857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1515.4285888671875, + "fy": 1497.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999976681610647, + 0.0014534642893628477, + 0.0015972207090281835, + 0.0002832487807609141 + ], + [ + -0.001476030548088057, + 0.9998978113418739, + 0.014219289980541845, + -0.003116917097941041 + ], + [ + -0.0015763902609800156, + -0.01422161437000571, + 0.9998976250989177, + 0.008345508947968483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1503.5428466796875, + "fy": 1491.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999981821698047, + 0.0012065877514133468, + 0.001476415619945864, + -0.000660788849927485 + ], + [ + -0.0012346591589481471, + 0.9998156224898644, + 0.01916237568688912, + -0.003825593739748001 + ], + [ + -0.0014530223143176203, + -0.01916416372301155, + 0.9998152947194553, + 0.01057429239153862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1503.5428466796875, + "fy": 1497.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999958730318741, + 0.0005729852842328942, + 0.002815245475011849, + -0.0013188563752919436 + ], + [ + -0.0006476866174518222, + 0.9996457955285393, + 0.02660571337437606, + -0.0037775803357362747 + ], + [ + -0.002799003620236285, + -0.026607426970264164, + 0.999642041137104, + 0.009445996023714542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1503.5428466796875, + "fy": 1497.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999944433548648, + 0.0012956284747122416, + 0.0030715804155817543, + -0.0009488479699939489 + ], + [ + -0.001389110411133035, + 0.999529817309312, + 0.030630290267610452, + -0.003938206937164068 + ], + [ + -0.0030304507353780216, + -0.030634386830290735, + 0.9995260630478187, + 0.010931938886642456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1503.5428466796875, + "fy": 1497.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999943323127439, + 0.0022711012420335765, + 0.002485445943609525, + -0.001319653121754527 + ], + [ + -0.002365835537075419, + 0.9992441619140275, + 0.0388008724508091, + -0.003989050630480051 + ], + [ + -0.002395446639290067, + -0.03880653269593733, + 0.9992438715626518, + 0.013596123084425926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1491.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999959487039112, + 0.002409036834226131, + 0.0015162840422312009, + -0.00014213733084034175 + ], + [ + -0.0024715921849935937, + 0.9990847439272743, + 0.04270322802604904, + -0.004138316493481398 + ], + [ + -0.0014120226047985762, + -0.042706802658417246, + 0.999086650495771, + 0.01465563103556633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1491.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999990454475981, + 0.002472781748122306, + 0.003602264197232773, + -0.003212227486073971 + ], + [ + -0.002650710469785877, + 0.9987328308360265, + 0.05025640600223117, + -0.0030764045659452677 + ], + [ + -0.003473426395632882, + -0.05026547483792337, + 0.998729852036271, + 0.01764470338821411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1491.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999891295712413, + 0.003079963252745392, + 0.003500652183881181, + -0.002881404710933566 + ], + [ + -0.00326341199639966, + 0.9985535754428826, + 0.05366662941136626, + -0.0027911418583244085 + ], + [ + -0.003330297508110795, + -0.05367747010242666, + 0.9985527719264068, + 0.017274776473641396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1491.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999861483885849, + 0.0035406219457565767, + 0.0038944867698177173, + -0.003379582893103361 + ], + [ + -0.003775987283417736, + 0.998057292953186, + 0.06218827785839715, + -0.0027400709223002195 + ], + [ + -0.0036667357415718044, + -0.06220212198305671, + 0.998056837594837, + 0.02158781699836254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999828454832587, + 0.0032565414621598776, + 0.004868642204103044, + -0.00418147724121809 + ], + [ + -0.0035723198280823948, + 0.9977917369475804, + 0.06632411484654073, + -0.00322494818829 + ], + [ + -0.00464190373146944, + -0.06634036943548362, + 0.99778625372016, + 0.02213381975889206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999847603379998, + 0.0037563352161259856, + 0.004045866717642533, + -0.0036758871283382177 + ], + [ + -0.0040458668212680765, + 0.9972420385703943, + 0.07410767483621285, + -0.002977595664560795 + ], + [ + -0.0037563351045132695, + -0.07412291449821326, + 0.9972420385708142, + 0.023983005434274673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999833307601503, + 0.0039871433611480215, + 0.004176229118916812, + -0.004278736189007759 + ], + [ + -0.004300766939801798, + 0.9969442767816347, + 0.07799751531987059, + -0.002163573633879423 + ], + [ + -0.003852480443239553, + -0.07801417614870765, + 0.99694480625272, + 0.0245538167655468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999846369947225, + 0.0033479450656198084, + 0.004417809227444529, + -0.003812600625678897 + ], + [ + -0.0037185708570692563, + 0.9962238411165768, + 0.0867423231284112, + -0.004225778393447399 + ], + [ + -0.004110718345187071, + -0.08675741844228826, + 0.9962209856954005, + 0.026607371866703033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999806330926085, + 0.003301353980197037, + 0.00527584131701606, + -0.004880542866885662 + ], + [ + -0.0037635169680598694, + 0.9959221984427268, + 0.09013773121748891, + -0.003252628492191434 + ], + [ + -0.00495675092535659, + -0.09015584124671358, + 0.9959153352114632, + 0.027530888095498085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999816784706888, + 0.003162787254097788, + 0.0051613466972912705, + -0.003537284443154931 + ], + [ + -0.003657628862414486, + 0.9950938405516208, + 0.09886794347679682, + -0.0038070417940616608 + ], + [ + -0.004823326035958686, + -0.09888501035552122, + 0.9950871772125996, + 0.02885647863149643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999720825338572, + 0.003193680541140991, + 0.006755335484042166, + -0.005739196669310331 + ], + [ + -0.003867802904085689, + 0.9947505057739993, + 0.10225688907388049, + -0.00295487348921597 + ], + [ + -0.006393297552591076, + -0.10228016262684475, + 0.9947350873873052, + 0.030162883922457695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999585606094689, + 0.003567220732432053, + 0.008375679082033752, + -0.007031197194010019 + ], + [ + -0.00446703301150509, + 0.9939217480835277, + 0.10999820136101891, + -0.0026993865612894297 + ], + [ + -0.007932381730176507, + -0.11003105753754897, + 0.9938964954648225, + 0.03474819287657738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999628579321472, + 0.004337108751554843, + 0.007447969109106315, + -0.006150740198791027 + ], + [ + -0.00515374571636591, + 0.9935380062009064, + 0.11338284323220695, + -0.0027349782176315784 + ], + [ + -0.006908086657249264, + -0.11341701689784234, + 0.9935234565005153, + 0.035006627440452576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999455810825859, + 0.0034391678024223316, + 0.009849213077018349, + -0.009053872898221016 + ], + [ + -0.004588692175114398, + 0.992862136762069, + 0.11917936603448, + -7.743632886558771e-05 + ], + [ + -0.009369032902694575, + -0.11921807542937977, + 0.992823887561829, + 0.03698493912816048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999539877701717, + 0.003850903438655925, + 0.008785948169547232, + -0.008055954240262508 + ], + [ + -0.004914912815482255, + 0.9922083248994519, + 0.12449290595146899, + 0.0001180649342131801 + ], + [ + -0.008238080756343491, + -0.12453035992452233, + 0.9921815980366302, + 0.03696684166789055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999403260578411, + 0.003458774562512067, + 0.010362490138156646, + -0.00919006671756506 + ], + [ + -0.004808184484683238, + 0.9910815861137692, + 0.1331697076221801, + -0.00022031288244761527 + ], + [ + -0.009809469164991707, + -0.1332115856250549, + 0.9910390747947125, + 0.0402819886803627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1461.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999424037198527, + 0.004329969252177148, + 0.009820417976728979, + -0.010366152040660381 + ], + [ + -0.005634952034801303, + 0.9905526583450934, + 0.13701707324648973, + 0.0001441546919522807 + ], + [ + -0.00913436141872802, + -0.13706451915701434, + 0.9905200053657311, + 0.041244592517614365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1461.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.999929742121416, + 0.003943183417008434, + 0.011178645961770085, + -0.010643579065799713 + ], + [ + -0.005541919934144991, + 0.9891492289676008, + 0.14680970661453485, + -0.00012889527715742588 + ], + [ + -0.010478451433408566, + -0.14686134323688396, + 0.989101586247953, + 0.04457150027155876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999148141288672, + 0.002971614467978201, + 0.012709602396871338, + -0.011617780663073063 + ], + [ + -0.004829438440276746, + 0.9888636058003066, + 0.14874624582814377, + 0.00035310842213220894 + ], + [ + -0.012126046758297966, + -0.14879495499199047, + 0.9887937198217563, + 0.043554238975048065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999151934802959, + 0.003896383745378886, + 0.012426746998807223, + -0.012026196345686913 + ], + [ + -0.0058047097790480204, + 0.9875111336529898, + 0.15744226324519311, + 0.0009090656531043351 + ], + [ + -0.01165809554106682, + -0.15750104477461874, + 0.9874500036474049, + 0.04648993909358978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999088115294267, + 0.003211612858663692, + 0.013116942046654732, + -0.01245945692062378 + ], + [ + -0.005285805773430483, + 0.9868906382454603, + 0.16130383876645207, + 0.0008199495496228337 + ], + [ + -0.012426941825517642, + -0.1613584633240978, + 0.9868176211593259, + 0.048276059329509735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999082756183084, + 0.0036442975428969517, + 0.013044517830847764, + -0.012336524203419685 + ], + [ + -0.005808990056827626, + 0.9854311058129136, + 0.1699758551408341, + -2.8412012397893704e-05 + ], + [ + -0.012235031039607252, + -0.17003603968499406, + 0.9853618874422244, + 0.04947509989142418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998864987099304, + 0.004239417800141685, + 0.014457421426749498, + -0.013627307489514351 + ], + [ + -0.006688504604979932, + 0.9847551161535816, + 0.1738177928622193, + 0.0005380759830586612 + ], + [ + -0.0135001334713385, + -0.17389476284828145, + 0.9846717005429756, + 0.05291960760951042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999028506250924, + 0.002538672240180539, + 0.013705635887155808, + -0.012230385094881058 + ], + [ + -0.004997518545883778, + 0.9831966679526617, + 0.18248105911345275, + -0.0006970305694267154 + ], + [ + -0.013012075937293893, + -0.18253182536215684, + 0.9831138380725609, + 0.05493754521012306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999921442522667, + 0.003387183775518979, + 0.012067964594726956, + -0.010555808432400227 + ], + [ + -0.005576761180478103, + 0.9824732468511757, + 0.18632020544332845, + -0.00012551753025036305 + ], + [ + -0.011225351581337403, + -0.18637286875449177, + 0.9824149557463466, + 0.05483129993081093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999883998169663, + 0.002323681604000548, + 0.015052930214805403, + -0.013207975775003433 + ], + [ + -0.0051999075199785985, + 0.9809940798997518, + 0.19396797715969136, + 0.0008192242821678519 + ], + [ + -0.014316115605577249, + -0.1940237503643356, + 0.9808923657203804, + 0.05778598412871361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999900590002039, + 0.0030139874674092034, + 0.013774105891830663, + -0.012538163922727108 + ], + [ + -0.005691961810037783, + 0.9800339523016589, + 0.19874872051598758, + 0.0013455046573653817 + ], + [ + -0.012900065283793404, + -0.1988073645907902, + 0.9799536826300204, + 0.05895114690065384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998912484527723, + 0.0022825907550760114, + 0.014569867775695617, + -0.012936858460307121 + ], + [ + -0.005227585174244945, + 0.97865705500879, + 0.20543378747121, + 0.0023571751080453396 + ], + [ + -0.013789982625167771, + -0.20548761145374542, + 0.9785625569774431, + 0.05683647468686104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999133321268802, + 0.0030388458815662667, + 0.012809904395700247, + -0.011595664545893669 + ], + [ + -0.005663966125140814, + 0.9776432381721716, + 0.21019423955942154, + 0.0031621160451322794 + ], + [ + -0.011884768514874357, + -0.21024857733629984, + 0.9775757198321823, + 0.06041404977440834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999203234189393, + 0.0023062248597695055, + 0.012410807413685228, + -0.010933173820376396 + ], + [ + -0.0049857376154773215, + 0.975387064063127, + 0.22044323005876704, + 0.0022120855282992125 + ], + [ + -0.011596949348557987, + -0.2204875429252382, + 0.9753208467886849, + 0.06172214448451996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998941635987031, + 0.0021789825499378477, + 0.014384492910681002, + -0.01204147282987833 + ], + [ + -0.005349752237384971, + 0.9745168330683414, + 0.22425057907940818, + 0.0024175785947591066 + ], + [ + -0.013529292377983282, + -0.22430379867826236, + 0.9744253507304974, + 0.06100638210773468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998893197424535, + 0.0014784104270808745, + 0.014804140217637488, + -0.012725641019642353 + ], + [ + -0.004830253847881366, + 0.9734068694319568, + 0.2290321706451761, + 0.0032936548814177513 + ], + [ + -0.014071848234663455, + -0.2290783290607933, + 0.9733062736066049, + 0.061883144080638885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999001926291688, + 0.003156586992773256, + 0.013771010809238217, + -0.01273760199546814 + ], + [ + -0.00631385165281626, + 0.9718089695593205, + 0.23568509066412832, + 0.0030770590528845787 + ], + [ + -0.01263883133273491, + -0.23574851567424404, + 0.9717319060831201, + 0.06275317072868347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998923961297108, + 0.0033016888809771603, + 0.01429318062987535, + -0.013345137238502502 + ], + [ + -0.006654633259666798, + 0.9704107308160642, + 0.24136845148695632, + 0.003335645655170083 + ], + [ + -0.013073332328230176, + -0.2414375951826169, + 0.9703282823942987, + 0.06075958535075188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9998919563619134, + 0.0030162393035704665, + 0.01438672663285028, + -0.01315654069185257 + ], + [ + -0.006451902656333155, + 0.969460628761527, + 0.2451621141885844, + 0.005414277780801058 + ], + [ + -0.013207897442741305, + -0.24522844774162564, + 0.9693753451905893, + 0.06430961936712265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999097401151618, + 0.0010147380497741152, + 0.013397086605651644, + -0.011863857507705688 + ], + [ + -0.004330818181232058, + 0.9682626910101384, + 0.24989718928328514, + 0.004565099254250526 + ], + [ + -0.012718318941986561, + -0.24993265393800634, + 0.9681796903771502, + 0.0640384778380394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9998478778309431, + 0.004550228728388849, + 0.016837951641452055, + -0.014794154092669487 + ], + [ + -0.008732430835380018, + 0.9662606293996949, + 0.2574182214292743, + 0.005678543355315924 + ], + [ + -0.015098537964512968, + -0.25752609865919435, + 0.9661533742945319, + 0.06798545271158218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998811846020834, + 0.00531887937732666, + 0.014468109790314532, + -0.013625632040202618 + ], + [ + -0.008913634454491585, + 0.9652541169261257, + 0.2611609405672632, + 0.006627418100833893 + ], + [ + -0.01257631899829389, + -0.26125887406810744, + 0.9651868404206089, + 0.06719787418842316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999860964701246, + 0.00522390833659345, + 0.015835468050676253, + -0.014196973294019699 + ], + [ + -0.00926058447394708, + 0.9637059861983033, + 0.2668051981141983, + 0.007556724362075329 + ], + [ + -0.01386696945601336, + -0.26691474846333757, + 0.9636203734930366, + 0.07160677015781403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1414.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9998926729125527, + 0.005342382056160168, + 0.013641906382781836, + -0.01302484143525362 + ], + [ + -0.00888048187283728, + 0.9615960476463978, + 0.2743249500000554, + 0.006613804493099451 + ], + [ + -0.011652454569607873, + -0.27441665420450184, + 0.9615402852703109, + 0.07142005115747452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1414.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9998768989360922, + 0.006845096572432636, + 0.014118485289038595, + -0.012981628067791462 + ], + [ + -0.010524039128295854, + 0.9599743111874862, + 0.27989027575201325, + 0.007828394882380962 + ], + [ + -0.011637507223148201, + -0.28000440445290525, + 0.9599281753926203, + 0.07317346334457397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1408.4571533203125, + "fy": 1402.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998855087838919, + 0.006249501698740123, + 0.013780894473710394, + -0.013740502297878265 + ], + [ + -0.00990641816484062, + 0.9587816487461275, + 0.2839711480182481, + 0.007708922028541565 + ], + [ + -0.011438190552767269, + -0.2840751551195136, + 0.9587337868463296, + 0.07278888672590256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1414.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999094567680131, + 0.004259925460092477, + 0.012764454589675183, + -0.012381484732031822 + ], + [ + -0.007839011383351883, + 0.9553955585271515, + 0.29522512875282897, + 0.009058250114321709 + ], + [ + -0.010937466179564021, + -0.2952984588203387, + 0.9553424475296302, + 0.0781264454126358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1390.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998972295569586, + 0.004363568949998788, + 0.013656119153633814, + -0.012954078614711761 + ], + [ + -0.008201300964613965, + 0.9553948407434146, + 0.29521760947367937, + 0.009571031667292118 + ], + [ + -0.011758783389766719, + -0.29529926777234744, + 0.9553324413345903, + 0.07543233036994934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1408.4571533203125, + "fy": 1402.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999014365032696, + 0.003152992016490744, + 0.013681225092864352, + -0.01327301375567913 + ], + [ + -0.0071940373580867785, + 0.951871993892191, + 0.3064114114555713, + 0.00886695645749569 + ], + [ + -0.012056662273951564, + -0.30647963371984244, + 0.9518008568023894, + 0.07839978486299515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1390.6285400390625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999020352527332, + 0.0030266985025153913, + 0.013665979424015373, + -0.012427267618477345 + ], + [ + -0.007092479748017058, + 0.9512786345803917, + 0.30825096288882753, + 0.009981678798794746 + ], + [ + -0.012067171518906596, + -0.30831769084345506, + 0.9512069096072071, + 0.08215463161468506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1384.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998814187429175, + 0.004884772171950119, + 0.014604364192827731, + -0.013375862501561642 + ], + [ + -0.009269703080641623, + 0.9482151845601998, + 0.3174933642995755, + 0.011747950688004494 + ], + [ + -0.012297197137777088, + -0.317591093657071, + 0.9481480243992813, + 0.08485034108161926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1384.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998869006255909, + 0.0050959015531239415, + 0.014149831967593087, + -0.012452380731701851 + ], + [ + -0.009348259041943962, + 0.9476009235047672, + 0.3193197454367611, + 0.012705680914223194 + ], + [ + -0.01178117185321425, + -0.31941590686794863, + 0.9475413882409, + 0.08298040926456451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1384.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998629618988182, + 0.006082021444752224, + 0.015396961975273151, + -0.013466030359268188 + ], + [ + -0.010812480152293594, + 0.9442066044911493, + 0.32917621163785576, + 0.01203217450529337 + ], + [ + -0.012535856407868319, + -0.32929758130062187, + 0.9441429739471037, + 0.08394171297550201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1384.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998602594035138, + 0.004699191613930546, + 0.016043044091226345, + -0.01435843389481306 + ], + [ + -0.00974626664781383, + 0.9435659950503074, + 0.33104112021190335, + 0.012585037387907505 + ], + [ + -0.013582045205607986, + -0.33115122011385917, + 0.9434799401498342, + 0.08433005958795547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1372.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9998716709926235, + 0.00566896605082394, + 0.014983469902991974, + -0.012514596804976463 + ], + [ + -0.010453969704436246, + 0.9395999873413365, + 0.34211486127553575, + 0.012253858149051666 + ], + [ + -0.0121390305971272, + -0.3422275947554125, + 0.9395386726069805, + 0.08981716632843018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1378.742919921875, + "fy": 1366.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998413074971524, + 0.005433387327690983, + 0.01696579277642449, + -0.014817721210420132 + ], + [ + -0.010938491729440288, + 0.93892835129959, + 0.34393880345858024, + 0.014922406524419785 + ], + [ + -0.014060911103845636, + -0.34406980313300084, + 0.9388387834718736, + 0.0894722193479538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1366.857177734375, + "fy": 1366.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998062350895561, + 0.005799140343712898, + 0.018811226629882646, + -0.01581440307199955 + ], + [ + -0.012007278734575199, + 0.9369165657078006, + 0.3493467820943696, + 0.013750392943620682 + ], + [ + -0.015598638832831102, + -0.34950496258790653, + 0.936804656047881, + 0.08690094947814941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1384.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998447565141652, + 0.004709637503171849, + 0.016978874689407064, + -0.015595532953739166 + ], + [ + -0.010374721095213127, + 0.9362241274744609, + 0.35125026447944674, + 0.015042808838188648 + ], + [ + -0.014241770722997045, + -0.3513718862534019, + 0.9361276459529437, + 0.08539927005767822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1390.6285400390625, + "fy": 1384.685791015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998223286934911, + 0.004674564802875797, + 0.01826087319457686, + -0.015909167006611824 + ], + [ + -0.010941936556868011, + 0.9327653797427078, + 0.36031794345803364, + 0.014957684092223644 + ], + [ + -0.015348780743439466, + -0.3604537346142289, + 0.9326508028905267, + 0.09032611548900604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1378.742919921875, + "fy": 1366.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997814788581274, + 0.005091113694644241, + 0.020274986895276813, + -0.017383424565196037 + ], + [ + -0.012174344713587758, + 0.9302425508562867, + 0.3667432097628861, + 0.01505186129361391 + ], + [ + -0.016993524150398263, + -0.3669099032974411, + 0.9301012541649499, + 0.08685873448848724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1378.742919921875, + "fy": 1372.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997249358626663, + 0.007381245159357633, + 0.022261397851120752, + -0.020012615248560905 + ], + [ + -0.01517381154608751, + 0.927321030213651, + 0.37395917205847273, + 0.016506696119904518 + ], + [ + -0.017883178060743337, + -0.37419409955715766, + 0.9271779590774671, + 0.08915402740240097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1378.742919921875, + "fy": 1372.800048828125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998164239355795, + 0.004499331577230524, + 0.01862456560645437, + -0.01669776625931263 + ], + [ + -0.011109608590169401, + 0.9280922863635072, + 0.3721844765563603, + 0.018635204061865807 + ], + [ + -0.01561073430829617, + -0.3723230640289652, + 0.9279718966468975, + 0.09020038694143295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1366.857177734375, + "fy": 1360.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998118770804449, + 0.003390932036879417, + 0.019097435136650086, + -0.01666945219039917 + ], + [ + -0.010481413623513422, + 0.9229140454298729, + 0.38486335850106534, + 0.01730271801352501 + ], + [ + -0.016320245627137967, + -0.3849911249992502, + 0.9227759659063952, + 0.09683410823345184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1360.914306640625, + "fy": 1349.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997599126310457, + 0.003061717909132035, + 0.02169661216432269, + -0.019192367792129517 + ], + [ + -0.011251119780225607, + 0.9214155891614375, + 0.38841565925432586, + 0.0188487209379673 + ], + [ + -0.01880237750007018, + -0.3885665167429208, + 0.921228816671851, + 0.09795965999364853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1360.914306640625, + "fy": 1349.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998511900747494, + 0.001447500886652384, + 0.017190184620631148, + -0.015210127457976341 + ], + [ + -0.008102536802109922, + 0.9191255059205308, + 0.3938815218612046, + 0.01958661712706089 + ], + [ + -0.015229793284174804, + -0.39396219248490266, + 0.9190004593519036, + 0.09708230197429657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1360.914306640625, + "fy": 1349.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.999852848440047, + 0.0005910036542827842, + 0.017144450443408385, + -0.014060134068131447 + ], + [ + -0.007478233948103739, + 0.9144621944974244, + 0.40460223782373356, + 0.0172217208892107 + ], + [ + -0.015438830374846783, + -0.4046709101846049, + 0.9143320496225761, + 0.10104245692491531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9998761160527718, + -0.0016263377975110514, + 0.01565591174582356, + -0.013984793797135353 + ], + [ + -0.004984821581175347, + 0.9107326909835555, + 0.41296624211629673, + 0.01908922754228115 + ], + [ + -0.014929973242724786, + -0.41299312415489475, + 0.9106117588191749, + 0.10361405462026596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9998897145907322, + 0.0005174961416025506, + 0.014842198402132866, + -0.011668306775391102 + ], + [ + -0.006653958959552669, + 0.909080374539527, + 0.41656763851413114, + 0.018587281927466393 + ], + [ + -0.013277179136753588, + -0.41662045656066743, + 0.9089835596364502, + 0.10500739514827728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9998942662287776, + -0.0005989137376672845, + 0.01452920043049197, + -0.01124577596783638 + ], + [ + -0.005613626033494904, + 0.9058010555599442, + 0.4236660653737174, + 0.021599050611257553 + ], + [ + -0.01341430451311753, + -0.42370283106066886, + 0.9057019197206134, + 0.10813252627849579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999042808290391, + -0.002171885430492412, + 0.013664263369780471, + -0.011808495968580246 + ], + [ + -0.003847247610372943, + 0.9050083951702725, + 0.4253763079405736, + 0.02214667946100235 + ], + [ + -0.013290141669161756, + -0.42538816107762867, + 0.9049134127359411, + 0.10626637190580368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9998978283574868, + -0.0005226993401303283, + 0.014284944220440557, + -0.012107986956834793 + ], + [ + -0.0057573534374712465, + 0.8999641885398311, + 0.4359258104623285, + 0.02117544785141945 + ], + [ + -0.013083796367159966, + -0.43596351467897143, + 0.8998692283556431, + 0.11034704744815826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9998243543049791, + -0.00038387811135448877, + 0.018738014201789773, + -0.015085754916071892 + ], + [ + -0.0077564043684188325, + 0.9016777331153022, + 0.43233910740912984, + 0.025661064311861992 + ], + [ + -0.01706161568856903, + -0.43240850852133433, + 0.901516379789325, + 0.10600748658180237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1337.1429443359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9998497889782026, + -0.0010264546153677142, + 0.01730161469822681, + -0.0126450564712286 + ], + [ + -0.006711411219786935, + 0.8974374206634828, + 0.44109073097528784, + 0.02659706398844719 + ], + [ + -0.015979876084695598, + -0.4411405925368889, + 0.8972957267125038, + 0.11387258023023605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998167335832381, + 0.0006410274378808897, + 0.019133434892021867, + -0.013916032388806343 + ], + [ + -0.009144114534350434, + 0.894050983762535, + 0.4478718830230646, + 0.028164714574813843 + ], + [ + -0.016819168122295416, + -0.4479647614679824, + 0.8938929958706501, + 0.11503443121910095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999349369010216, + -8.739837281558498e-05, + 0.011406766688008725, + -0.007839798927307129 + ], + [ + -0.005073247129018069, + 0.8922238304724576, + 0.45156494383490703, + 0.029213853180408478 + ], + [ + -0.010216855108992541, + -0.45159343296662263, + 0.8921653362315211, + 0.11449842900037766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999453410639331, + 0.0004771108782109235, + 0.01044448417798381, + -0.0068689375184476376 + ], + [ + -0.005213638832542647, + 0.8886508122682075, + 0.4585548514901776, + 0.02684849500656128 + ], + [ + -0.00906271784058535, + -0.45858424113816315, + 0.8886047270440764, + 0.11539725214242935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9999236657643096, + 0.00044386676413594333, + 0.01234769722501729, + -0.006663506850600243 + ], + [ + -0.006202136879403075, + 0.8823599893470903, + 0.4705341461546978, + 0.02810121327638626 + ], + [ + -0.01068625952305807, + -0.47057481039862054, + 0.8822953879941273, + 0.12013217806816101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999781980783989, + -0.0013689733223806034, + 0.006459820424867228, + -0.003868354018777609 + ], + [ + -0.0018443951449243227, + 0.881432655755139, + 0.47230612061987065, + 0.029333237558603287 + ], + [ + -0.00634047115191773, + -0.47230773790028546, + 0.8814109139017319, + 0.11781548708677292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/boom_down/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..18299430f09975c398362fc5631c61d08aac3ef5 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/boom_down/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.0032555165234953165, + -0.005529353395104408, + -0.005581006489277167 + ], + [ + 0.0032319806050509214, + 0.9999856948852539, + -0.004260140471160412, + -0.00425834820165482 + ], + [ + 0.00554314348846674, + 0.0042421817779541016, + 0.9999756217002869, + -0.000739910943817472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005377934314310551, + -0.011360308155417442, + -0.011187931735489409 + ], + [ + 0.00532000046223402, + 0.9999727010726929, + -0.005123721901327372, + -0.005185512179376316 + ], + [ + 0.011387553066015244, + 0.005062880460172892, + 0.9999223351478577, + -0.0023093799655189325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998708367347717, + -0.010394159704446793, + -0.012257437221705914, + -0.013058904722862912 + ], + [ + 0.010184912011027336, + 0.9998034238815308, + -0.01701173558831215, + -0.01668274203260823 + ], + [ + 0.012431849725544453, + 0.0168846994638443, + 0.9997801780700684, + -0.0002114680945672578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014360994100570679, + -0.017254116013646126, + -0.018296235735882776 + ], + [ + 0.013956792652606964, + 0.9996305704116821, + -0.023322783410549164, + -0.022946356274343434 + ], + [ + 0.01758267916738987, + 0.023076094686985016, + 0.9995790719985962, + -0.0005802633773699154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002441, + -0.01868932694196701, + -0.02287096530199051, + -0.024157235624899923 + ], + [ + 0.017997808754444122, + 0.9993855357170105, + -0.030076881870627403, + -0.029686442089255385 + ], + [ + 0.023419030010700226, + 0.029652131721377373, + 0.999285876750946, + -0.0011054622194492044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999367356300354, + -0.022492164745926857, + -0.02754915878176689, + -0.029070388123580104 + ], + [ + 0.021495414897799492, + 0.9991220831871033, + -0.03595762699842453, + -0.03550726951228525 + ], + [ + 0.028333738446235657, + 0.03534270077943802, + 0.998973548412323, + -0.0015850470677041546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.02244180254638195, + -0.027419451624155045, + -0.028955726059753776 + ], + [ + 0.02145053632557392, + 0.9991242289543152, + -0.035926420241594315, + -0.03504899110504773 + ], + [ + 0.028201691806316376, + 0.03531569615006447, + 0.9989781975746155, + -0.001532885398926159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.022391442209482193, + -0.0272897407412529, + -0.028841025583352504 + ], + [ + 0.021405648440122604, + 0.9991262555122375, + -0.0358952134847641, + -0.03459071130121602 + ], + [ + 0.028069641441106796, + 0.03528868407011032, + 0.9989829063415527, + -0.0014807297057125358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.022341091185808182, + -0.027160027995705605, + -0.028726268098319425 + ], + [ + 0.021360762417316437, + 0.9991283416748047, + -0.03586401417851448, + -0.03413243330235761 + ], + [ + 0.027937596663832664, + 0.035261671990156174, + 0.9989875555038452, + -0.001428631890592434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.022290736436843872, + -0.02703031711280346, + -0.028611459149725765 + ], + [ + 0.021315868943929672, + 0.9991304278373718, + -0.03583282232284546, + -0.03367416473362735 + ], + [ + 0.027805553749203682, + 0.03523464500904083, + 0.9989922046661377, + -0.001376591666667843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.02224038913846016, + -0.026900604367256165, + -0.02849659319639705 + ], + [ + 0.02127097174525261, + 0.999132513999939, + -0.03580164536833763, + -0.03321589814444466 + ], + [ + 0.02767351269721985, + 0.03520762547850609, + 0.9989967942237854, + -0.0013246092990149888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.022190045565366745, + -0.02677088789641857, + -0.028381690718077716 + ], + [ + 0.021226070821285248, + 0.9991346001625061, + -0.03577045723795891, + -0.03275763353480954 + ], + [ + 0.027541467919945717, + 0.03518058732151985, + 0.9990013837814331, + -0.001272632871563527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.02213970199227333, + -0.02664116583764553, + -0.02826673493537444 + ], + [ + 0.02118116244673729, + 0.9991366863250732, + -0.03573928028345108, + -0.03229936717943167 + ], + [ + 0.027409421280026436, + 0.03515353798866272, + 0.9990059733390808, + -0.001220713939155339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.022089364007115364, + -0.02651144377887249, + -0.02815174078218109 + ], + [ + 0.021136252209544182, + 0.9991387128829956, + -0.03570811077952385, + -0.031841106878040225 + ], + [ + 0.027277378365397453, + 0.03512648865580559, + 0.9990105628967285, + -0.001168801576857724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424072, + -0.022039031609892845, + -0.02638172172009945, + -0.02803668963906032 + ], + [ + 0.021091340109705925, + 0.9991407990455627, + -0.03567694500088692, + -0.03138284450669668 + ], + [ + 0.02714533917605877, + 0.03509943559765816, + 0.9990150928497314, + -0.0011169465651314815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954102, + -0.021988702937960625, + -0.02625199593603611, + -0.027921585225846975 + ], + [ + 0.02104642428457737, + 0.9991428256034851, + -0.03564579039812088, + -0.0309245919645082 + ], + [ + 0.027013299986720085, + 0.03507237136363983, + 0.9990196228027344, + -0.001065149540607681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.021938370540738106, + -0.02612226828932762, + -0.027806446120672894 + ], + [ + 0.02100149728357792, + 0.9991449117660522, + -0.035614632070064545, + -0.030466337302489262 + ], + [ + 0.026881258934736252, + 0.03504529595375061, + 0.9990241527557373, + -0.0010133584796657561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967712, + -0.021888047456741333, + -0.025992536917328835, + -0.027691229576221568 + ], + [ + 0.020956572145223618, + 0.9991469383239746, + -0.0355834886431694, + -0.030008099970084356 + ], + [ + 0.02674921788275242, + 0.03501822054386139, + 0.9990286231040955, + -0.0009616765725547175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451294, + -0.02183772623538971, + -0.025862807407975197, + -0.02757599701224261 + ], + [ + 0.02091164141893387, + 0.9991490244865417, + -0.03555235639214516, + -0.029549845566809427 + ], + [ + 0.026617182418704033, + 0.034991148859262466, + 0.9990330934524536, + -0.0009099500050191538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.021787410601973534, + -0.02573307417333126, + -0.027460688857603274 + ], + [ + 0.02086670882999897, + 0.9991510510444641, + -0.03552122041583061, + -0.0290916085430269 + ], + [ + 0.02648514322936535, + 0.03496405854821205, + 0.9990375638008118, + -0.0008583323948210004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.021737094968557358, + -0.025603339076042175, + -0.027345346048411965 + ], + [ + 0.020821768790483475, + 0.9991530776023865, + -0.035490091890096664, + -0.028633366098089696 + ], + [ + 0.026353105902671814, + 0.03493696078658104, + 0.9990419745445251, + -0.0008067211052441821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.02168678492307663, + -0.02547360025346279, + -0.0272299667734606 + ], + [ + 0.02077682688832283, + 0.9991551637649536, + -0.03545896336436272, + -0.02817511768333583 + ], + [ + 0.02622106857597828, + 0.03490985557436943, + 0.9990464448928833, + -0.000755115679979605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.02163648046553135, + -0.025343861430883408, + -0.02711451378686034 + ], + [ + 0.020731879398226738, + 0.999157190322876, + -0.035427846014499664, + -0.027716890448182197 + ], + [ + 0.026089034974575043, + 0.03488274663686752, + 0.9990508556365967, + -0.0007036200514117794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636963, + -0.02158617600798607, + -0.025214120745658875, + -0.026999024292415155 + ], + [ + 0.020686928182840347, + 0.9991592168807983, + -0.03539673238992691, + -0.027258661517164197 + ], + [ + 0.025956999510526657, + 0.03485562652349472, + 0.9990552067756653, + -0.0006521305729826001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.021535879001021385, + -0.025084376335144043, + -0.0268834797416085 + ], + [ + 0.020641973242163658, + 0.9991612434387207, + -0.03536563366651535, + -0.026800430890281828 + ], + [ + 0.02582496777176857, + 0.03482850641012192, + 0.9990595579147339, + -0.0006006985973901892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.021485578268766403, + -0.024954630061984062, + -0.02676789864866554 + ], + [ + 0.020597010850906372, + 0.9991632699966431, + -0.03533452749252319, + -0.026342206018115686 + ], + [ + 0.025692934170365334, + 0.03480137139558792, + 0.9990639090538025, + -0.0005492732386206078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.021435288712382317, + -0.02482488378882408, + -0.02665226441344332 + ], + [ + 0.020552048459649086, + 0.9991652965545654, + -0.03530343621969223, + -0.025883975724794873 + ], + [ + 0.025560900568962097, + 0.03477424383163452, + 0.9990682601928711, + -0.0004979055438182906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106812, + -0.02138499729335308, + -0.024695131927728653, + -0.026536571309282192 + ], + [ + 0.020507080480456352, + 0.9991673231124878, + -0.035272352397441864, + -0.025425766087351483 + ], + [ + 0.02542886883020401, + 0.03474710136651993, + 0.9990725517272949, + -0.0004465959983230978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.021334711462259293, + -0.024565381929278374, + -0.026420843638635578 + ], + [ + 0.02046210691332817, + 0.9991693496704102, + -0.0352412685751915, + -0.02496754357817283 + ], + [ + 0.025296838954091072, + 0.03471995145082474, + 0.9990768432617188, + -0.000395292492786025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.021284429356455803, + -0.024435628205537796, + -0.026305060896040504 + ], + [ + 0.02041713334619999, + 0.9991713762283325, + -0.03521019220352173, + -0.024509323098420098 + ], + [ + 0.025164809077978134, + 0.03469279408454895, + 0.9990811347961426, + -0.0003440466667544954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.02123415283858776, + -0.02430587448179722, + -0.026189221247687747 + ], + [ + 0.02037215419113636, + 0.9991733431816101, + -0.035179123282432556, + -0.024051124047659432 + ], + [ + 0.025032782927155495, + 0.03466563671827316, + 0.9990854263305664, + -0.0002928591314333036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297974, + -0.02118387445807457, + -0.024176113307476044, + -0.02607334695257652 + ], + [ + 0.020327165722846985, + 0.9991753697395325, + -0.035148054361343384, + -0.023592903926407442 + ], + [ + 0.02490074932575226, + 0.034638457000255585, + 0.9990896582603455, + -0.00024167750815950556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595764, + -0.021133603528141975, + -0.024046355858445168, + -0.02595741578521963 + ], + [ + 0.02028217725455761, + 0.9991773962974548, + -0.03511699289083481, + -0.023134704461032874 + ], + [ + 0.02476872317492962, + 0.03461127728223801, + 0.9990938901901245, + -0.00019055436892341428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847107, + -0.02108333446085453, + -0.023916592821478844, + -0.025841431400765932 + ], + [ + 0.020237186923623085, + 0.9991793632507324, + -0.03508593887090683, + -0.022676500422435825 + ], + [ + 0.02463669516146183, + 0.03458409756422043, + 0.9990980625152588, + -0.00013948831674116802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.021033067256212234, + -0.02378683164715767, + -0.025725410565359822 + ], + [ + 0.020192187279462814, + 0.9991813898086548, + -0.03505489602684975, + -0.022218297590271698 + ], + [ + 0.02450467273592949, + 0.03455691412091255, + 0.9991022944450378, + -8.842917295585862e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303345, + -0.020982807502150536, + -0.023657064884901047, + -0.02560933660170274 + ], + [ + 0.020147187635302544, + 0.9991833567619324, + -0.035023849457502365, + -0.02176010513592465 + ], + [ + 0.0243726447224617, + 0.03452971205115318, + 0.9991064667701721, + -3.742786556887583e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999504029750824, + -0.020932547748088837, + -0.023527298122644424, + -0.025493201953222563 + ], + [ + 0.020102180540561676, + 0.9991853833198547, + -0.03499281778931618, + -0.021301913838132156 + ], + [ + 0.02424062043428421, + 0.034502509981393814, + 0.9991105794906616, + 1.3515521152622978e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713135, + -0.020882295444607735, + -0.023397531360387802, + -0.025377034678057648 + ], + [ + 0.02005717344582081, + 0.9991873502731323, + -0.03496179357171059, + -0.02084371806687391 + ], + [ + 0.02410859987139702, + 0.034475307911634445, + 0.9991147518157959, + 6.445253009237657e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.020832043141126633, + -0.023267757147550583, + -0.025260812312239884 + ], + [ + 0.020012158900499344, + 0.9991893768310547, + -0.0349307619035244, + -0.02038553085287246 + ], + [ + 0.023976575583219528, + 0.034448083490133286, + 0.9991188645362854, + 0.00011533169018856741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030029, + -0.02078179642558098, + -0.023137984797358513, + -0.025144553575742693 + ], + [ + 0.01996713876724243, + 0.9991913437843323, + -0.034899741411209106, + -0.019927339215283616 + ], + [ + 0.023844553157687187, + 0.034420862793922424, + 0.9991229176521301, + 0.0001662044579389205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188477, + -0.020731551572680473, + -0.023008208721876144, + -0.025028221158770587 + ], + [ + 0.01992211677134037, + 0.9991933107376099, + -0.03486872836947441, + -0.019469164558160258 + ], + [ + 0.023712530732154846, + 0.03439362719655037, + 0.9991270303726196, + 0.00021696778196475183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.020681310445070267, + -0.022878430783748627, + -0.024911850486652124 + ], + [ + 0.01987709105014801, + 0.9991952776908875, + -0.03483772277832031, + -0.019010988255050893 + ], + [ + 0.023580510169267654, + 0.034366391599178314, + 0.9991310834884644, + 0.0002677247292560887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412476, + -0.02063107118010521, + -0.02274865098297596, + -0.02479544711848682 + ], + [ + 0.019832059741020203, + 0.999197244644165, + -0.034806717187166214, + -0.01855280658066522 + ], + [ + 0.023448491469025612, + 0.03433914855122566, + 0.9991351366043091, + 0.00031847502024567626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524475, + -0.02058083936572075, + -0.022618873044848442, + -0.02467898694509991 + ], + [ + 0.019787024706602097, + 0.9991992115974426, + -0.03477573022246361, + -0.018094630710874145 + ], + [ + 0.02331647463142872, + 0.03431190177798271, + 0.999139130115509, + 0.00036916717128033225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636475, + -0.020530609413981438, + -0.022489085793495178, + -0.024562469870631414 + ], + [ + 0.01974198780953884, + 0.999201238155365, + -0.034744735807180405, + -0.017636459523414468 + ], + [ + 0.023184452205896378, + 0.034284647554159164, + 0.9991431832313538, + 0.0004198018787940185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.020480381324887276, + -0.022359302267432213, + -0.024445899622709683 + ], + [ + 0.01969694159924984, + 0.9992032051086426, + -0.0347137525677681, + -0.017178295237873387 + ], + [ + 0.023052437230944633, + 0.03425738215446472, + 0.9991471171379089, + 0.000470378013996497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.02043016068637371, + -0.022229516878724098, + -0.02432929307736737 + ], + [ + 0.019651899114251137, + 0.9992051124572754, + -0.034682776778936386, + -0.01672013420377815 + ], + [ + 0.02292042039334774, + 0.03423011675477028, + 0.9991511106491089, + 0.0005209478493887059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786682, + -0.020379941910505295, + -0.022099725902080536, + -0.024212631505278862 + ], + [ + 0.019606847316026688, + 0.999207079410553, + -0.034651800990104675, + -0.01626197410178484 + ], + [ + 0.022788405418395996, + 0.03420283645391464, + 0.9991550445556641, + 0.0005714598993386462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805786, + -0.02032972313463688, + -0.021969936788082123, + -0.02409593163440043 + ], + [ + 0.01956179179251194, + 0.9992090463638306, + -0.03462084010243416, + -0.015803804903224923 + ], + [ + 0.0226563923060894, + 0.034175556153059006, + 0.9991589784622192, + 0.0006219651931753113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999555766582489, + -0.02027951367199421, + -0.021840142086148262, + -0.023979160131956744 + ], + [ + 0.019516734406352043, + 0.9992110133171082, + -0.03458987548947334, + -0.015345660135711089 + ], + [ + 0.022524377331137657, + 0.034148264676332474, + 0.9991629123687744, + 0.0006723612225956671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.02022930048406124, + -0.0217103473842144, + -0.023862372610764772 + ], + [ + 0.01947166956961155, + 0.9992129802703857, + -0.03455892205238342, + -0.014887498821050053 + ], + [ + 0.022392362356185913, + 0.03412096947431564, + 0.9991668462753296, + 0.000722801786686352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.02017909660935402, + -0.02158055081963539, + -0.02374551160783199 + ], + [ + 0.019426602870225906, + 0.9992148876190186, + -0.0345279723405838, + -0.014429355783691967 + ], + [ + 0.022260352969169617, + 0.03409366309642792, + 0.99917072057724, + 0.000773133096371258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.020128892734646797, + -0.02145075425505638, + -0.023628612318578875 + ], + [ + 0.019381528720259666, + 0.9992168545722961, + -0.03449702635407448, + -0.013971202377868999 + ], + [ + 0.02212834358215332, + 0.03406635299324989, + 0.9991745948791504, + 0.000823457847917053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.020078696310520172, + -0.021320953965187073, + -0.023511652559603108 + ], + [ + 0.019336454570293427, + 0.999218761920929, + -0.03446609526872635, + -0.013513067299227337 + ], + [ + 0.021996330469846725, + 0.03403903543949127, + 0.999178409576416, + 0.0008737243363798389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.020028501749038696, + -0.021191153675317764, + -0.023394645250180278 + ], + [ + 0.01929137483239174, + 0.9992207288742065, + -0.03443516790866852, + -0.013054932978113325 + ], + [ + 0.021864324808120728, + 0.03401172161102295, + 0.9991822242736816, + 0.0009239329150941215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567932, + -0.01997831091284752, + -0.021061349660158157, + -0.02327759974951774 + ], + [ + 0.019246291369199753, + 0.9992226362228394, + -0.034404244273900986, + -0.0125967946823172 + ], + [ + 0.02173231542110443, + 0.033984389156103134, + 0.9991860389709473, + 0.000974134833451602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.01992812380194664, + -0.020931540057063103, + -0.02316052351287219 + ], + [ + 0.019201204180717468, + 0.9992246031761169, + -0.03437332063913345, + -0.012138649643589763 + ], + [ + 0.021600304171442986, + 0.03395704925060272, + 0.9991898536682129, + 0.0010243302909535585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.01987793669104576, + -0.020801736041903496, + -0.02304336430045102 + ], + [ + 0.019156109541654587, + 0.9992265105247498, + -0.034342408180236816, + -0.011680526757090665 + ], + [ + 0.021468302235007286, + 0.03392971307039261, + 0.9991936087608337, + 0.0010744158525134839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.01982775516808033, + -0.020671922713518143, + -0.0229261725416181 + ], + [ + 0.019111013039946556, + 0.9992284178733826, + -0.03431149944663048, + -0.01122239482390332 + ], + [ + 0.02133629471063614, + 0.033902358263731, + 0.9991973638534546, + 0.001124495119085364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.019777577370405197, + -0.02054211124777794, + -0.022808927707529965 + ], + [ + 0.019065912812948227, + 0.9992303848266602, + -0.03428059071302414, + -0.010764267248838017 + ], + [ + 0.02120428904891014, + 0.0338749960064888, + 0.9992011189460754, + 0.0011745165575882148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.019727405160665512, + -0.020412297919392586, + -0.022691648476854526 + ], + [ + 0.01902081072330475, + 0.999232292175293, + -0.03424970060586929, + -0.010306143274367102 + ], + [ + 0.021072285249829292, + 0.033847637474536896, + 0.9992048144340515, + 0.0012245308808499177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.019677232950925827, + -0.020282482728362083, + -0.022574308634614845 + ], + [ + 0.018975701183080673, + 0.9992341995239258, + -0.03421881049871445, + -0.009848021429078854 + ], + [ + 0.020940283313393593, + 0.033820271492004395, + 0.9992085099220276, + 0.0012744871920674149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.01962706632912159, + -0.020152663812041283, + -0.022456915778688556 + ], + [ + 0.01893058605492115, + 0.9992361068725586, + -0.0341879241168499, + -0.009389909163553846 + ], + [ + 0.020808277651667595, + 0.033792894333601, + 0.9992122054100037, + 0.0013243853545866547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.0195769015699625, + -0.020022844895720482, + -0.022339466091042783 + ], + [ + 0.018885469064116478, + 0.9992380142211914, + -0.03415704891085625, + -0.008931806477792095 + ], + [ + 0.020676275715231895, + 0.0337655134499073, + 0.9992159008979797, + 0.001374225291958328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.019526740536093712, + -0.019893022254109383, + -0.02222198383906022 + ], + [ + 0.018840348348021507, + 0.9992399215698242, + -0.034126173704862595, + -0.008473702195922698 + ], + [ + 0.020544273778796196, + 0.033738117665052414, + 0.999219536781311, + 0.0014240585876897634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.01947658509016037, + -0.019763201475143433, + -0.02210444672711225 + ], + [ + 0.01879522204399109, + 0.999241828918457, + -0.03409530594944954, + -0.008015588867365066 + ], + [ + 0.020412277430295944, + 0.033710721880197525, + 0.9992231726646423, + 0.0014738335969242187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.019426429644227028, + -0.019633373245596886, + -0.02198687136937011 + ], + [ + 0.018750092014670372, + 0.9992437362670898, + -0.034064438194036484, + -0.007557481393280392 + ], + [ + 0.020280277356505394, + 0.03368331864476204, + 0.9992267489433289, + 0.0015236027014176809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428345, + -0.01937628537416458, + -0.019503546878695488, + -0.02186924318264718 + ], + [ + 0.018704961985349655, + 0.9992456436157227, + -0.03403358906507492, + -0.007099379773668667 + ], + [ + 0.020148279145359993, + 0.033655911684036255, + 0.9992303848266602, + 0.0015733127377997444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.019326139241456985, + -0.019373716786503792, + -0.021751559941900825 + ], + [ + 0.01865982636809349, + 0.9992475509643555, + -0.03400273993611336, + -0.006641287733820191 + ], + [ + 0.020016280934214592, + 0.033628497272729874, + 0.9992339611053467, + 0.0016229649326202915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862732, + -0.01927599310874939, + -0.019243888556957245, + -0.0216338384631538 + ], + [ + 0.01861467957496643, + 0.9992493987083435, + -0.03397189453244209, + -0.006183188393026215 + ], + [ + 0.01988428458571434, + 0.0336010716855526, + 0.9992374777793884, + 0.0016726105647827947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556702, + -0.01922585628926754, + -0.01911405473947525, + -0.02151606225926881 + ], + [ + 0.01856953464448452, + 0.9992513060569763, + -0.033941056579351425, + -0.00572509691119194 + ], + [ + 0.019752290099859238, + 0.033573638647794724, + 0.999241054058075, + 0.0017221976350700662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.01917572133243084, + -0.018984220921993256, + -0.02139823484277376 + ], + [ + 0.01852438785135746, + 0.9992532134056091, + -0.033910226076841354, + -0.005267015009120923 + ], + [ + 0.019620295614004135, + 0.03354620561003685, + 0.9992445707321167, + 0.0017717260093365846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.01912558451294899, + -0.018854383379220963, + -0.021280367278092575 + ], + [ + 0.018479228019714355, + 0.9992550611495972, + -0.03387940302491188, + -0.004808925880921935 + ], + [ + 0.019488301128149033, + 0.03351876512169838, + 0.9992480874061584, + 0.001821248603606729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.019075460731983185, + -0.01872454583644867, + -0.021162446985746028 + ], + [ + 0.0184340737760067, + 0.99925696849823, + -0.033848583698272705, + -0.0043508370862845105 + ], + [ + 0.01935631036758423, + 0.03349132090806961, + 0.9992515444755554, + 0.0018707124384852694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.01902533881366253, + -0.018594708293676376, + -0.02104447363139321 + ], + [ + 0.018388913944363594, + 0.999258816242218, + -0.03381776437163353, + -0.0038927671924295776 + ], + [ + 0.019224319607019424, + 0.03346386179327965, + 0.9992550015449524, + 0.0019201181481190992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.018975213170051575, + -0.018464861437678337, + -0.020926461940841693 + ], + [ + 0.018343742936849594, + 0.9992607235908508, + -0.03378695249557495, + -0.003434686406386951 + ], + [ + 0.019092323258519173, + 0.03343639522790909, + 0.9992584586143494, + 0.001969517348090646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.018925096839666367, + -0.018335022032260895, + -0.020808395565678386 + ], + [ + 0.018298573791980743, + 0.9992625713348389, + -0.033756155520677567, + -0.002976617120424574 + ], + [ + 0.018960338085889816, + 0.03340892866253853, + 0.9992619156837463, + 0.002018857707569539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.018874982371926308, + -0.018205175176262856, + -0.0206902742744365 + ], + [ + 0.018253399059176445, + 0.9992644190788269, + -0.03372535482048988, + -0.0025185500135232256 + ], + [ + 0.01882834918797016, + 0.03338145092129707, + 0.9992653131484985, + 0.002068140549842408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.018824871629476547, + -0.018075326457619667, + -0.020572116757474185 + ], + [ + 0.018208220601081848, + 0.9992663264274597, + -0.033694565296173096, + -0.0020604831154875172 + ], + [ + 0.018696362152695656, + 0.03335396945476532, + 0.9992687106132507, + 0.0021174161075361102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.018774762749671936, + -0.01794547773897648, + -0.020453906193313238 + ], + [ + 0.018163036555051804, + 0.9992681741714478, + -0.033663779497146606, + -0.0016024166164787246 + ], + [ + 0.01856437511742115, + 0.03332647681236267, + 0.9992721080780029, + 0.002166633602333056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.018724659457802773, + -0.017815623432397842, + -0.020335638985256022 + ], + [ + 0.01811785064637661, + 0.9992700219154358, + -0.033633001148700714, + -0.0011443597471115438 + ], + [ + 0.018432386219501495, + 0.03329898416996002, + 0.9992754459381104, + 0.002215792234815564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.018674559891223907, + -0.017685772851109505, + -0.020217333702861516 + ], + [ + 0.018072661012411118, + 0.9992718696594238, + -0.03360222652554512, + -0.0006863013315150934 + ], + [ + 0.01830040104687214, + 0.03327148035168648, + 0.9992787837982178, + 0.002264944357684498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.01862446404993534, + -0.01755591668188572, + -0.02009897917493492 + ], + [ + 0.01802746392786503, + 0.9992737174034119, + -0.033571455627679825, + -0.00022825254556025493 + ], + [ + 0.018168417736887932, + 0.033243972808122635, + 0.9992821216583252, + 0.0023140391093292995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231323, + -0.018574370071291924, + -0.017426056787371635, + -0.019980566027461236 + ], + [ + 0.01798226498067379, + 0.9992755651473999, + -0.033540695905685425, + 0.00022979778662386013 + ], + [ + 0.018036430701613426, + 0.0332164540886879, + 0.9992853999137878, + 0.0023630740113213472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.018524279817938805, + -0.01729620061814785, + -0.01986211854341015 + ], + [ + 0.017937062308192253, + 0.9992774128913879, + -0.03350994363427162, + 0.0006878422144566618 + ], + [ + 0.017904451116919518, + 0.03318893536925316, + 0.9992887377738953, + 0.002412102881733281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.018474197015166283, + -0.017166344448924065, + -0.019743620097699525 + ], + [ + 0.017891855910420418, + 0.999279260635376, + -0.03347919136285782, + 0.0011458919138090384 + ], + [ + 0.01777247153222561, + 0.033161409199237823, + 0.9992919564247131, + 0.0024610729491587524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.01842411234974861, + -0.017036478966474533, + -0.0196250573221485 + ], + [ + 0.017846643924713135, + 0.999281108379364, + -0.03344844654202461, + 0.0016039245329391924 + ], + [ + 0.01764049008488655, + 0.033133868128061295, + 0.9992952346801758, + 0.0025099849807698606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.01837403140962124, + -0.016906613484025, + -0.019506463947779964 + ], + [ + 0.017801424488425255, + 0.9992828965187073, + -0.033417705446481705, + 0.002061963954231222 + ], + [ + 0.017508508637547493, + 0.03310632333159447, + 0.9992984533309937, + 0.0025588901264390375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.018323954194784164, + -0.01677674800157547, + -0.019387817627528222 + ], + [ + 0.017756205052137375, + 0.9992847442626953, + -0.03338697552680969, + 0.0025199959155904686 + ], + [ + 0.017376530915498734, + 0.03307878226041794, + 0.9993016719818115, + 0.00260773673770505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.018273886293172836, + -0.01664688065648079, + -0.019269112988558275 + ], + [ + 0.017710983753204346, + 0.9992865920066833, + -0.03335624933242798, + 0.0029780256978886935 + ], + [ + 0.017244551330804825, + 0.03305122256278992, + 0.9993048906326294, + 0.002656525607361112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.018223818391561508, + -0.01651701144874096, + -0.019150373902343306 + ], + [ + 0.01766575500369072, + 0.9992884397506714, + -0.03332552686333656, + 0.0034360607517064864 + ], + [ + 0.017112577334046364, + 0.0330236591398716, + 0.9993080496788025, + 0.0027053071051508686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.01817375235259533, + -0.01638714037835598, + -0.019031576226196528 + ], + [ + 0.017620524391531944, + 0.9992902278900146, + -0.03329481557011604, + 0.0038940801561876334 + ], + [ + 0.016980601474642754, + 0.03299609199166298, + 0.9993112087249756, + 0.0027540298872412994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.999703586101532, + -0.01812369003891945, + -0.016257265582680702, + -0.018912747974612724 + ], + [ + 0.017575286328792572, + 0.9992920756340027, + -0.033264096826314926, + 0.004352110826944207 + ], + [ + 0.016848625615239143, + 0.03296850994229317, + 0.9993143677711487, + 0.002802746133804789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.018073633313179016, + -0.016127392649650574, + -0.018793844522043253 + ], + [ + 0.01753004640340805, + 0.999293863773346, + -0.0332333967089653, + 0.004810110897324575 + ], + [ + 0.016716651618480682, + 0.032940931618213654, + 0.999317467212677, + 0.002851352250597062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660095, + -0.018023576587438583, + -0.01599751226603985, + -0.018674927120677597 + ], + [ + 0.017484799027442932, + 0.999295711517334, + -0.033202700316905975, + 0.005268144635600526 + ], + [ + 0.01658467762172222, + 0.032913342118263245, + 0.9993206262588501, + 0.0029000036465198923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.017973529174923897, + -0.015867633745074272, + -0.018555932814668413 + ], + [ + 0.017439553514122963, + 0.9992974996566772, + -0.03317200765013695, + 0.005726147723621899 + ], + [ + 0.01645270548760891, + 0.03288574889302254, + 0.9993236660957336, + 0.0029485440282073167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.01792348176240921, + -0.015737753361463547, + -0.018436904078559895 + ], + [ + 0.017394300550222397, + 0.9992992877960205, + -0.03314131498336792, + 0.006184156033284496 + ], + [ + 0.016320735216140747, + 0.032858140766620636, + 0.999326765537262, + 0.0029970780604374773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.017873438075184822, + -0.015607871115207672, + -0.018317816850717598 + ], + [ + 0.017349043861031532, + 0.9993010759353638, + -0.033110640943050385, + 0.006642165839297998 + ], + [ + 0.016188763082027435, + 0.03283053636550903, + 0.9993298053741455, + 0.0030455535192970016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.01782339997589588, + -0.015477987937629223, + -0.01819868052619895 + ], + [ + 0.01730378530919552, + 0.9993029236793518, + -0.03307996690273285, + 0.007100157258899641 + ], + [ + 0.01605679653584957, + 0.032802924513816833, + 0.999332845211029, + 0.003093970295774388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.01777336187660694, + -0.01534810196608305, + -0.01807950232879387 + ], + [ + 0.017258519306778908, + 0.9993047118186951, + -0.03304930403828621, + 0.007558158906683259 + ], + [ + 0.015924828127026558, + 0.03277530148625374, + 0.9993358850479126, + 0.003142380378711735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.0177233275026083, + -0.015218214131891727, + -0.0179602768279955 + ], + [ + 0.017213249579072, + 0.9993064999580383, + -0.03301863744854927, + 0.008016150874946906 + ], + [ + 0.015792859718203545, + 0.032747674733400345, + 0.9993388652801514, + 0.0031907323805350327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591675, + -0.017673300579190254, + -0.015088326297700405, + -0.017841011638047806 + ], + [ + 0.01716797985136509, + 0.9993082880973816, + -0.032987985759973526, + 0.008474148064851757 + ], + [ + 0.01566089689731598, + 0.032720040529966354, + 0.9993418455123901, + 0.0032390768946612167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.01762327365577221, + -0.014958432875573635, + -0.017721691546049825 + ], + [ + 0.017122698947787285, + 0.9993100762367249, + -0.03295733034610748, + 0.008932143025817227 + ], + [ + 0.01552892941981554, + 0.03269239515066147, + 0.9993448257446289, + 0.0032873626448658285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.017573250457644463, + -0.01482854038476944, + -0.017602316714106246 + ], + [ + 0.01707741804420948, + 0.9993118643760681, + -0.032926686108112335, + 0.009390124581972421 + ], + [ + 0.0153969656676054, + 0.032664746046066284, + 0.9993477463722229, + 0.003335590057745264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.017523229122161865, + -0.014698644168674946, + -0.017482887065061466 + ], + [ + 0.017032131552696228, + 0.9993136525154114, + -0.03289603814482689, + 0.009848100183897937 + ], + [ + 0.01526500005275011, + 0.032637085765600204, + 0.9993506669998169, + 0.0033837584520506996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.017473215237259865, + -0.014568750746548176, + -0.01736342147553815 + ], + [ + 0.016986841335892677, + 0.9993154406547546, + -0.03286540508270264, + 0.010306084732754954 + ], + [ + 0.015133040957152843, + 0.032609425485134125, + 0.9993535876274109, + 0.0034319211619761947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.017423205077648163, + -0.014438850805163383, + -0.01724390116165622 + ], + [ + 0.016941551119089127, + 0.9993171691894531, + -0.03283478319644928, + 0.010764053208309234 + ], + [ + 0.015001079067587852, + 0.03258176147937775, + 0.9993565082550049, + 0.003480024120446965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.01737319864332676, + -0.014308947138488293, + -0.017124348479833563 + ], + [ + 0.01689625345170498, + 0.9993189573287964, + -0.03280416503548622, + 0.011222033274348307 + ], + [ + 0.014869115315377712, + 0.03255408629775047, + 0.9993593692779541, + 0.0035281206535713195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733643, + -0.017323190346360207, + -0.0141790471971035, + -0.017004735240221773 + ], + [ + 0.016850950196385384, + 0.9993207454681396, + -0.03277355059981346, + 0.011680003660867404 + ], + [ + 0.014737159013748169, + 0.0325264073908329, + 0.9993622303009033, + 0.0035761584673918564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.01727319322526455, + -0.014049142599105835, + -0.01688507321645276 + ], + [ + 0.01680564694106579, + 0.9993225336074829, + -0.0327429436147213, + 0.012137971818447113 + ], + [ + 0.014605199918150902, + 0.03249872103333473, + 0.9993650317192078, + 0.0036241378514368914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.017223196104168892, + -0.01391923800110817, + -0.016765371216733833 + ], + [ + 0.016760336235165596, + 0.9993242621421814, + -0.03271232917904854, + 0.012595934978838243 + ], + [ + 0.014473242685198784, + 0.03247101977467537, + 0.999367892742157, + 0.003672109905895329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957642, + -0.017173198983073235, + -0.01378933060914278, + -0.016645616202548955 + ], + [ + 0.016715021803975105, + 0.9993260502815247, + -0.03268173336982727, + 0.013053898653600002 + ], + [ + 0.01434128638356924, + 0.03244331479072571, + 0.9993706941604614, + 0.003720023447382712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.017123209312558174, + -0.013659421354532242, + -0.01652580852616407 + ], + [ + 0.016669703647494316, + 0.9993277788162231, + -0.0326511412858963, + 0.013511849830714233 + ], + [ + 0.014209331944584846, + 0.03241560608148575, + 0.9993734359741211, + 0.003767878471222944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.01707322709262371, + -0.013529511168599129, + -0.016405944471641065 + ], + [ + 0.016624385491013527, + 0.9993295669555664, + -0.03262055665254593, + 0.013969797846787146 + ], + [ + 0.014077378436923027, + 0.03238789737224579, + 0.9993762373924255, + 0.003815674684770312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.0170232392847538, + -0.013399599120020866, + -0.01628604391005249 + ], + [ + 0.016579054296016693, + 0.9993312954902649, + -0.03258997201919556, + 0.014427740765914757 + ], + [ + 0.013945424929261208, + 0.032360173761844635, + 0.9993789792060852, + 0.0038634642235794454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.016973262652754784, + -0.013269683346152306, + -0.016166109510670146 + ], + [ + 0.016533726826310158, + 0.9993330240249634, + -0.03255940228700638, + 0.014885696307385808 + ], + [ + 0.013813471421599388, + 0.03233245015144348, + 0.9993817210197449, + 0.003911246860859658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.01692328415811062, + -0.013139765709638596, + -0.01604610060236444 + ], + [ + 0.016488390043377876, + 0.9993348121643066, + -0.0325288325548172, + 0.015343633861471917 + ], + [ + 0.013681519776582718, + 0.032304711639881134, + 0.9993844032287598, + 0.0039589184903340985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080505, + -0.0168733112514019, + -0.013009847141802311, + -0.015926053872230662 + ], + [ + 0.016443051397800446, + 0.9993365406990051, + -0.03249826654791832, + 0.01580157369437577 + ], + [ + 0.013549569062888622, + 0.03227696940302849, + 0.9993871450424194, + 0.004006582789052917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077759, + -0.01682334393262863, + -0.012879930436611176, + -0.01580595442612176 + ], + [ + 0.016397710889577866, + 0.9993382692337036, + -0.032467711716890335, + 0.016259507523171575 + ], + [ + 0.013417622074484825, + 0.032249223440885544, + 0.9993897676467896, + 0.004054189460920989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.01677337847650051, + -0.012750009074807167, + -0.015685820710459514 + ], + [ + 0.016352364793419838, + 0.9993399977684021, + -0.03243716061115265, + 0.016717442798439924 + ], + [ + 0.013285674154758453, + 0.032221466302871704, + 0.9993924498558044, + 0.004101788418593516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.01672341860830784, + -0.01262008585035801, + -0.015565631495765312 + ], + [ + 0.01630701683461666, + 0.9993417263031006, + -0.03240661695599556, + 0.017175375794890535 + ], + [ + 0.01315372809767723, + 0.032193709164857864, + 0.9993950724601746, + 0.0041493285254470096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.016673460602760315, + -0.012490159831941128, + -0.015445386598892042 + ], + [ + 0.016261659562587738, + 0.9993434548377991, + -0.03237607330083847, + 0.017633295336652505 + ], + [ + 0.013021781109273434, + 0.03216593712568283, + 0.9993976950645447, + 0.004196810417820282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.01662350445985794, + -0.012360233813524246, + -0.015325108373919542 + ], + [ + 0.016216300427913666, + 0.9993451833724976, + -0.032345544546842575, + 0.01809122377546761 + ], + [ + 0.012889835983514786, + 0.0321381650865078, + 0.9994003176689148, + 0.004244285135307821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.016573552042245865, + -0.012230303138494492, + -0.015204776430728545 + ], + [ + 0.016170937567949295, + 0.999346911907196, + -0.03231501206755638, + 0.018549146210174672 + ], + [ + 0.012757889926433563, + 0.03211038187146187, + 0.9994028806686401, + 0.004291700875332041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.016523605212569237, + -0.01210037525743246, + -0.015084387146123533 + ], + [ + 0.016125569120049477, + 0.9993486404418945, + -0.03228449076414108, + 0.0190070551901931 + ], + [ + 0.012625950388610363, + 0.03208259493112564, + 0.9994054436683655, + 0.004339058013539372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.016473662108182907, + -0.011970441788434982, + -0.014963961849339836 + ], + [ + 0.016080200672149658, + 0.999350368976593, + -0.03225398063659668, + 0.019464973067264676 + ], + [ + 0.012494007125496864, + 0.032054804265499115, + 0.9994080066680908, + 0.0043864077679953185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266174, + -0.016423722729086876, + -0.011840508319437504, + -0.01484348191860206 + ], + [ + 0.016034824773669243, + 0.9993520379066467, + -0.03222346678376198, + 0.0199228854982424 + ], + [ + 0.012362065725028515, + 0.032027002424001694, + 0.9994105696678162, + 0.0044336992138646015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.016373785212635994, + -0.011710572987794876, + -0.014722948190152147 + ], + [ + 0.01598944701254368, + 0.9993537664413452, + -0.032192956656217575, + 0.020380783891578096 + ], + [ + 0.012230126187205315, + 0.03199918940663338, + 0.9994130730628967, + 0.004480931638626997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.01632385142147541, + -0.011580638587474823, + -0.014602382187283438 + ], + [ + 0.015944061800837517, + 0.9993554949760437, + -0.032162461429834366, + 0.020838691181966948 + ], + [ + 0.012098189443349838, + 0.03197137638926506, + 0.9994155764579773, + 0.004528156621381641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.016273923218250275, + -0.011450696736574173, + -0.014481758870277944 + ], + [ + 0.015898674726486206, + 0.9993571639060974, + -0.032131969928741455, + 0.02129658177557351 + ], + [ + 0.011966248974204063, + 0.031943559646606445, + 0.9994180202484131, + 0.004575322736756073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.01622399501502514, + -0.011320755816996098, + -0.014361080733833203 + ], + [ + 0.015853283926844597, + 0.9993588924407959, + -0.03210148215293884, + 0.021754484483387675 + ], + [ + 0.011834311299026012, + 0.031915731728076935, + 0.9994205236434937, + 0.004622430968678958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.01617407612502575, + -0.011190813966095448, + -0.014240366918771338 + ], + [ + 0.01580789126455784, + 0.9993605613708496, + -0.03207100182771683, + 0.022212377895121795 + ], + [ + 0.011702376417815685, + 0.03188789635896683, + 0.9994229674339294, + 0.00466953156745864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.01612415537238121, + -0.011060870252549648, + -0.01411959911973282 + ], + [ + 0.015762489289045334, + 0.9993622899055481, + -0.03204053267836571, + 0.02267026111920009 + ], + [ + 0.011570443399250507, + 0.03186005726456642, + 0.9994253516197205, + 0.004716573508308273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.01607424020767212, + -0.0109309246763587, + -0.013998776820788324 + ], + [ + 0.01571708545088768, + 0.9993639588356018, + -0.03201005607843399, + 0.023128142447900568 + ], + [ + 0.01143851038068533, + 0.03183220326900482, + 0.9994277954101562, + 0.00476355592712417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.016024328768253326, + -0.010800977237522602, + -0.013877920412836463 + ], + [ + 0.015671677887439728, + 0.9993656277656555, + -0.03197959437966347, + 0.023586028898485538 + ], + [ + 0.011306577362120152, + 0.03180435672402382, + 0.9994301795959473, + 0.004810531988981566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.01597442291676998, + -0.010671027936041355, + -0.013757006723480493 + ], + [ + 0.015626268461346626, + 0.999367356300354, + -0.03194914013147354, + 0.024043908961522524 + ], + [ + 0.011174646206200123, + 0.03177649527788162, + 0.9994325041770935, + 0.004857448975762126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.015924515202641487, + -0.010541076771914959, + -0.013636059547038008 + ], + [ + 0.015580850653350353, + 0.9993690252304077, + -0.03191868215799332, + 0.024501794504944753 + ], + [ + 0.011042715050280094, + 0.03174862265586853, + 0.9994348883628845, + 0.004904358305044815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.01587461680173874, + -0.010411124676465988, + -0.013515037616956433 + ], + [ + 0.015535433776676655, + 0.9993706941604614, + -0.031888239085674286, + 0.024959651642638768 + ], + [ + 0.01091078668832779, + 0.03172075003385544, + 0.9994372129440308, + 0.004951156998466248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.01582472026348114, + -0.010281172581017017, + -0.013393982421123583 + ], + [ + 0.015490010380744934, + 0.9993723630905151, + -0.03185780346393585, + 0.025417521352797866 + ], + [ + 0.010778860189020634, + 0.031692877411842346, + 0.999439537525177, + 0.004997949131324139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.01577482372522354, + -0.010151215828955173, + -0.013272890127478284 + ], + [ + 0.015444581396877766, + 0.9993740320205688, + -0.03182736784219742, + 0.025875396184841457 + ], + [ + 0.010646932758390903, + 0.03166498988866806, + 0.9994418025016785, + 0.005044734529239051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.01572493650019169, + -0.010021258145570755, + -0.013151745452978121 + ], + [ + 0.015399151481688023, + 0.9993757009506226, + -0.03179694339632988, + 0.026333257512318034 + ], + [ + 0.010515006259083748, + 0.031637098640203476, + 0.9994441270828247, + 0.005091460048957537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137573, + -0.015675049275159836, + -0.009891296736896038, + -0.013030542268039791 + ], + [ + 0.015353715047240257, + 0.9993773698806763, + -0.03176651895046234, + 0.026791116511098508 + ], + [ + 0.010383079759776592, + 0.0316091924905777, + 0.9994463920593262, + 0.005138126884442929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716797, + -0.015625163912773132, + -0.00976133719086647, + -0.012909288134690857 + ], + [ + 0.015308273024857044, + 0.99937903881073, + -0.0317361019551754, + 0.027248962005311975 + ], + [ + 0.010251156985759735, + 0.03158128634095192, + 0.9994485974311829, + 0.005184734045921447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9998323321342468, + -0.015575285069644451, + -0.009631376713514328, + -0.01278799637435121 + ], + [ + 0.015262830071151257, + 0.9993807077407837, + -0.031705692410469055, + 0.027706812621409914 + ], + [ + 0.010119237005710602, + 0.031553372740745544, + 0.9994508624076843, + 0.005231334635535855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875244, + -0.015525411814451218, + -0.009501411579549313, + -0.01266665390018514 + ], + [ + 0.015217384323477745, + 0.9993823766708374, + -0.031675294041633606, + 0.028164664634102055 + ], + [ + 0.009987314231693745, + 0.03152546286582947, + 0.999453067779541, + 0.005277877167903791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.01547553762793541, + -0.009371441788971424, + -0.012545255664346357 + ], + [ + 0.015171930193901062, + 0.9993840456008911, + -0.03164489194750786, + 0.02862250314222719 + ], + [ + 0.009855390526354313, + 0.0314975269138813, + 0.9994552135467529, + 0.005324358895818496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.015425669960677624, + -0.00924147479236126, + -0.0124238170250845 + ], + [ + 0.015126475133001804, + 0.9993856549263, + -0.03161449730396271, + 0.02908033938088677 + ], + [ + 0.009723471477627754, + 0.031469590961933136, + 0.9994574189186096, + 0.0053708349414964725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.015375804156064987, + -0.00911150686442852, + -0.012302332114287998 + ], + [ + 0.015081014484167099, + 0.9993873238563538, + -0.031584110110998154, + 0.029538180657261083 + ], + [ + 0.00959155522286892, + 0.03144165500998497, + 0.9994595646858215, + 0.005417251753889679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.015325943008065224, + -0.008981536142528057, + -0.012180804833769798 + ], + [ + 0.01503554917871952, + 0.9993889331817627, + -0.0315537266433239, + 0.02999601588900118 + ], + [ + 0.00945963803678751, + 0.03141370788216591, + 0.9994617104530334, + 0.005463660557493255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.015276085585355759, + -0.008851563557982445, + -0.01205922861166579 + ], + [ + 0.014990082010626793, + 0.9993906021118164, + -0.03152335062623024, + 0.030453856208334407 + ], + [ + 0.00932772271335125, + 0.03138575330376625, + 0.9994637966156006, + 0.005510010815003427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025452, + -0.015226231887936592, + -0.008721589110791683, + -0.011937593208103748 + ], + [ + 0.014944609254598618, + 0.9993922114372253, + -0.03149298578500748, + 0.030911675531993837 + ], + [ + 0.00919580738991499, + 0.031357795000076294, + 0.9994659423828125, + 0.005556301821108954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.015176380053162575, + -0.008591610938310623, + -0.011815904097234105 + ], + [ + 0.014899132773280144, + 0.999393880367279, + -0.03146261349320412, + 0.03136948881725386 + ], + [ + 0.00906389206647873, + 0.03132982179522514, + 0.9994680285453796, + 0.005602534257350918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.01512653473764658, + -0.008461636491119862, + -0.011694181137270134 + ], + [ + 0.014853653497993946, + 0.999395489692688, + -0.03143225982785225, + 0.03182731085928414 + ], + [ + 0.008931982330977917, + 0.03130185231566429, + 0.999470055103302, + 0.005648759123187309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.015076691284775734, + -0.008331656455993652, + -0.011572405409893979 + ], + [ + 0.0148081686347723, + 0.9993971586227417, + -0.03140191361308098, + 0.03228513436337395 + ], + [ + 0.008800070732831955, + 0.03127387538552284, + 0.9994721412658691, + 0.005694925411756318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.015026850625872612, + -0.008201674558222294, + -0.01145058908503674 + ], + [ + 0.014762679114937782, + 0.9993987679481506, + -0.03137156739830971, + 0.03274294794790415 + ], + [ + 0.008668159134685993, + 0.031245891004800797, + 0.9994741678237915, + 0.005741084336447355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.014977015554904938, + -0.00807169172912836, + -0.011328725829315236 + ], + [ + 0.014717187732458115, + 0.9994003772735596, + -0.031341228634119034, + 0.03320075915385988 + ], + [ + 0.008536250330507755, + 0.031217899173498154, + 0.9994761347770691, + 0.005787183501013402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.014927184209227562, + -0.007941707037389278, + -0.011206803420192278 + ], + [ + 0.014671692624688148, + 0.9994019865989685, + -0.03131089732050896, + 0.033658564255950846 + ], + [ + 0.008404341526329517, + 0.031189901754260063, + 0.9994781613349915, + 0.0058332234841214185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.014877352863550186, + -0.007811722811311483, + -0.011084846761779057 + ], + [ + 0.014626190066337585, + 0.9994035959243774, + -0.03128056228160858, + 0.03411636697946732 + ], + [ + 0.008272436447441578, + 0.031161891296505928, + 0.999480128288269, + 0.005879256871595169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.014827528968453407, + -0.007681735325604677, + -0.01096281723419368 + ], + [ + 0.014580687507987022, + 0.9994052648544312, + -0.0312502421438694, + 0.03457415638857804 + ], + [ + 0.008140530437231064, + 0.031133878976106644, + 0.9994820952415466, + 0.0059251791511167416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.014777708798646927, + -0.007551745045930147, + -0.010840769545428423 + ], + [ + 0.014535179361701012, + 0.9994068741798401, + -0.031219925731420517, + 0.035031961830465363 + ], + [ + 0.00800862442702055, + 0.03110586106777191, + 0.9994840025901794, + 0.005971146300318164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.014727888628840446, + -0.0074217552319169044, + -0.010718651295144687 + ], + [ + 0.014489665627479553, + 0.999408483505249, + -0.03118961676955223, + 0.035489746267326705 + ], + [ + 0.007876722142100334, + 0.031077835708856583, + 0.9994859099388123, + 0.006017001258856208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.014678074046969414, + -0.007291760295629501, + -0.010596494527073834 + ], + [ + 0.014444148167967796, + 0.9994100332260132, + -0.031159311532974243, + 0.035947535461337 + ], + [ + 0.007744817063212395, + 0.031049802899360657, + 0.9994878172874451, + 0.006062850653813474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.014628264121711254, + -0.007161768618971109, + -0.010474288008842134 + ], + [ + 0.014398629777133465, + 0.9994116425514221, + -0.031129013746976852, + 0.03640531511611021 + ], + [ + 0.00761291803792119, + 0.031021766364574432, + 0.9994897246360779, + 0.006108639549043138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.014578456990420818, + -0.007031770423054695, + -0.010352040931707147 + ], + [ + 0.014353104867041111, + 0.999413251876831, + -0.03109871968626976, + 0.03686309984288953 + ], + [ + 0.007481016218662262, + 0.030993718653917313, + 0.9994915723800659, + 0.006154421445325204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.014528652653098106, + -0.006901774555444717, + -0.0102297439859502 + ], + [ + 0.014307575300335884, + 0.99941486120224, + -0.031068434938788414, + 0.03732088591638469 + ], + [ + 0.007349118590354919, + 0.030965669080615044, + 0.999493420124054, + 0.006200143886207911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.014478851109743118, + -0.006771773565560579, + -0.010107393449788064 + ], + [ + 0.014262041077017784, + 0.9994164705276489, + -0.031038155779242516, + 0.037778650984853876 + ], + [ + 0.00721721863374114, + 0.03093761019408703, + 0.999495267868042, + 0.006245806817526473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.014429057016968727, + -0.00664177443832159, + -0.009985003621944823 + ], + [ + 0.014216506853699684, + 0.9994180202484131, + -0.031007878482341766, + 0.03823642441106641 + ], + [ + 0.007085323333740234, + 0.030909541994333267, + 0.9994970560073853, + 0.006291463778638691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.014379264786839485, + -0.00651177391409874, + -0.009862561080464509 + ], + [ + 0.014170965179800987, + 0.999419629573822, + -0.030977610498666763, + 0.03869419587331835 + ], + [ + 0.00695342943072319, + 0.030881471931934357, + 0.9994988441467285, + 0.006337061264867812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.014329474419355392, + -0.006381768733263016, + -0.009740062102394873 + ], + [ + 0.014125419780611992, + 0.9994211792945862, + -0.03094734437763691, + 0.03915195329169349 + ], + [ + 0.006821533665060997, + 0.0308533925563097, + 0.9995006322860718, + 0.006382599212696861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.014279690571129322, + -0.006251762621104717, + -0.009617532167006986 + ], + [ + 0.014079871587455273, + 0.9994227886199951, + -0.03091708943247795, + 0.03960971997185732 + ], + [ + 0.0066896406933665276, + 0.030825309455394745, + 0.999502420425415, + 0.006428128764984125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.014229905791580677, + -0.006121753714978695, + -0.00949494374105434 + ], + [ + 0.014034316875040531, + 0.9994243383407593, + -0.030886836349964142, + 0.04006747628355625 + ], + [ + 0.0065577467903494835, + 0.030797217041254044, + 0.9995041489601135, + 0.006473600622812076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661865, + -0.014180131256580353, + -0.0059917462058365345, + -0.009372304146914551 + ], + [ + 0.013988763093948364, + 0.9994259476661682, + -0.03085659258067608, + 0.04052522700576104 + ], + [ + 0.006425857078284025, + 0.030769119039177895, + 0.999505877494812, + 0.006519012714280244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.014130355790257454, + -0.005861735437065363, + -0.009249629352288515 + ], + [ + 0.013943200930953026, + 0.9994274973869324, + -0.030826354399323463, + 0.040982974760203184 + ], + [ + 0.00629396690055728, + 0.030741015449166298, + 0.9995075464248657, + 0.006564416720777375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.014080582186579704, + -0.005731724202632904, + -0.009126899070320767 + ], + [ + 0.013897635042667389, + 0.9994290471076965, + -0.030796119943261147, + 0.04144072008619247 + ], + [ + 0.0061620790511369705, + 0.030712904408574104, + 0.9995092749595642, + 0.006609762208263495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.014030814170837402, + -0.005601710639894009, + -0.009004114507444235 + ], + [ + 0.013852065429091454, + 0.9994306564331055, + -0.030765891075134277, + 0.04189846734808578 + ], + [ + 0.006030191667377949, + 0.030684784054756165, + 0.9995109438896179, + 0.006655048099677682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.013981052674353123, + -0.005471696611493826, + -0.008881297159675025 + ], + [ + 0.013806494884192944, + 0.9994322061538696, + -0.030735671520233154, + 0.042356202254173136 + ], + [ + 0.0058983066119253635, + 0.030656661838293076, + 0.9995125532150269, + 0.006700327086055877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.013931291177868843, + -0.005341679789125919, + -0.008758423269324972 + ], + [ + 0.013760915026068687, + 0.9994337558746338, + -0.03070545196533203, + 0.042813938457097966 + ], + [ + 0.005766421556472778, + 0.03062852844595909, + 0.9995142221450806, + 0.006745545855610316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.013881535269320011, + -0.005211659707129002, + -0.008635496046534392 + ], + [ + 0.013715335167944431, + 0.999435305595398, + -0.030675241723656654, + 0.04327166291834421 + ], + [ + 0.005634536035358906, + 0.03060038946568966, + 0.9995158314704895, + 0.006790706207469168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372192, + -0.013831784017384052, + -0.005081639159470797, + -0.008512532192372003 + ], + [ + 0.013669752515852451, + 0.9994368553161621, + -0.030645040795207024, + 0.04372939426436334 + ], + [ + 0.00550265284255147, + 0.030572248622775078, + 0.9995174407958984, + 0.00683585963636699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440491, + -0.013782033696770668, + -0.004951618146151304, + -0.008389515133972073 + ], + [ + 0.0136241614818573, + 0.9994384050369263, + -0.030614839866757393, + 0.04418711945663935 + ], + [ + 0.00537077197805047, + 0.0305440966039896, + 0.9995189905166626, + 0.006880953284487066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.013732288032770157, + -0.004821593873202801, + -0.008266446085950695 + ], + [ + 0.013578569516539574, + 0.9994399547576904, + -0.03058464825153351, + 0.044644834769881916 + ], + [ + 0.005238890647888184, + 0.030515938997268677, + 0.9995205402374268, + 0.006925986164003984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.013682547025382519, + -0.004691570997238159, + -0.008143341817959332 + ], + [ + 0.013532972894608974, + 0.9994415044784546, + -0.03055446222424507, + 0.045102549517316806 + ], + [ + 0.005107013508677483, + 0.030487775802612305, + 0.9995220899581909, + 0.00697101228461293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.01363280788064003, + -0.004561544395983219, + -0.008020180235831184 + ], + [ + 0.013487370684742928, + 0.9994430541992188, + -0.03052428364753723, + 0.045560265561589125 + ], + [ + 0.004975135438144207, + 0.030459605157375336, + 0.9995236396789551, + 0.007015979808275919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972434998, + -0.013583073392510414, + -0.0044315168634057045, + -0.007896969007585339 + ], + [ + 0.013441765680909157, + 0.9994445443153381, + -0.03049410879611969, + 0.046017967138018576 + ], + [ + 0.004843259230256081, + 0.03043142706155777, + 0.9995251297950745, + 0.007060887328656897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.013533340767025948, + -0.004301486071199179, + -0.0077737172360231935 + ], + [ + 0.013396155089139938, + 0.9994460940361023, + -0.030463935807347298, + 0.04647567457515575 + ], + [ + 0.004711382556706667, + 0.030403239652514458, + 0.9995266199111938, + 0.007105787777610778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385803, + -0.013483613729476929, + -0.00417145574465394, + -0.007650411709223457 + ], + [ + 0.01335054263472557, + 0.9994476437568665, + -0.0304337739944458, + 0.046933377721194935 + ], + [ + 0.004579509142786264, + 0.030375052243471146, + 0.9995281100273132, + 0.007150629248516829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.013433892279863358, + -0.00404142402112484, + -0.007527054296845422 + ], + [ + 0.013304928317666054, + 0.9994491338729858, + -0.03040361776947975, + 0.04739107004986398 + ], + [ + 0.004447637125849724, + 0.030346855521202087, + 0.9995295405387878, + 0.007195411012683329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.013384170830249786, + -0.003911389037966728, + -0.007403664589785507 + ], + [ + 0.01325930468738079, + 0.99945068359375, + -0.030373465269804, + 0.04784876645141316 + ], + [ + 0.004315763711929321, + 0.030318651348352432, + 0.9995309710502625, + 0.007240185824663195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.013334454037249088, + -0.0037813540548086166, + -0.007280215482270368 + ], + [ + 0.013213680125772953, + 0.9994521737098694, + -0.030343323945999146, + 0.048306455711004115 + ], + [ + 0.004183894023299217, + 0.03029044345021248, + 0.9995324015617371, + 0.007284899952988993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.013284740969538689, + -0.0036513160448521376, + -0.007156733448800308 + ], + [ + 0.013168049976229668, + 0.9994537234306335, + -0.03031318448483944, + 0.048764150955998745 + ], + [ + 0.004052024334669113, + 0.03026222623884678, + 0.9995337724685669, + 0.007329606965464777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.013235030695796013, + -0.0035212745424360037, + -0.007033178372752841 + ], + [ + 0.013122417032718658, + 0.9994552135467529, + -0.03028305247426033, + 0.04922182597064073 + ], + [ + 0.003920153249055147, + 0.03023400530219078, + 0.9995351433753967, + 0.007374202988839174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.013185326009988785, + -0.0033912372309714556, + -0.006909608224087305 + ], + [ + 0.01307678036391735, + 0.9994567036628723, + -0.03025292418897152, + 0.04967951154546757 + ], + [ + 0.0037882893811911345, + 0.030205773189663887, + 0.9995365142822266, + 0.0074188429507656825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.01313562411814928, + -0.003261196194216609, + -0.00678596271389012 + ], + [ + 0.01303113903850317, + 0.9994582533836365, + -0.030222803354263306, + 0.05013718269141898 + ], + [ + 0.0036564248148351908, + 0.030177537351846695, + 0.9995378851890564, + 0.007463372373665103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445862, + -0.01308592688292265, + -0.0031311502680182457, + -0.006662285769023157 + ], + [ + 0.012985494919121265, + 0.9994597434997559, + -0.03019268624484539, + 0.05059486147187743 + ], + [ + 0.003524557687342167, + 0.030149294063448906, + 0.9995391964912415, + 0.007507892930295677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.013036231510341167, + -0.0030011041089892387, + -0.006538550624678449 + ], + [ + 0.012939845211803913, + 0.9994612336158752, + -0.030162576586008072, + 0.05105252473548866 + ], + [ + 0.0033926935866475105, + 0.03012104332447052, + 0.9995405077934265, + 0.007552354319886184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071533, + -0.012986541725695133, + -0.0028710588812828064, + -0.006414765504940908 + ], + [ + 0.012894193641841412, + 0.9994627237319946, + -0.03013247437775135, + 0.051510181795478366 + ], + [ + 0.0032608332112431526, + 0.030092788860201836, + 0.9995418190956116, + 0.007596756838589408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.012936853803694248, + -0.0027410101611167192, + -0.00629094407959962 + ], + [ + 0.012848534621298313, + 0.999464213848114, + -0.030102374032139778, + 0.05196784569036261 + ], + [ + 0.0031289716716855764, + 0.030064525082707405, + 0.9995430707931519, + 0.007641151709536628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.012887169606983662, + -0.0026109616737812757, + -0.006167065084884606 + ], + [ + 0.012802873738110065, + 0.9994657039642334, + -0.030072281137108803, + 0.05242550524427053 + ], + [ + 0.0029971131589263678, + 0.030036253854632378, + 0.9995443224906921, + 0.0076854878526071875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.012837491929531097, + -0.0024809096939861774, + -0.006043155300801144 + ], + [ + 0.012757210060954094, + 0.9994671940803528, + -0.030042195692658424, + 0.052883162319847216 + ], + [ + 0.0028652544133365154, + 0.03000797890126705, + 0.9995455741882324, + 0.007729814463065135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.01278781145811081, + -0.002350856317207217, + -0.005919188344812169 + ], + [ + 0.01271153800189495, + 0.9994686841964722, + -0.030012115836143494, + 0.05334081691709272 + ], + [ + 0.0027333965990692377, + 0.02997969463467598, + 0.9995467662811279, + 0.007774082639850832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833801, + -0.012738140299916267, + -0.0022208034060895443, + -0.005795169422582228 + ], + [ + 0.012665865942835808, + 0.9994701743125916, + -0.02998204343020916, + 0.053798463448071585 + ], + [ + 0.002601542044430971, + 0.029951410368084908, + 0.9995479583740234, + 0.007818292223197645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.012688469141721725, + -0.002090748865157366, + -0.005671094964690912 + ], + [ + 0.012620186433196068, + 0.9994716644287109, + -0.029951974749565125, + 0.05425609632484833 + ], + [ + 0.00246968911960721, + 0.02992311120033264, + 0.999549150466919, + 0.007862440556693027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.012638804502785206, + -0.0019606873393058777, + -0.005546988342269071 + ], + [ + 0.012574505992233753, + 0.9994731545448303, + -0.029921913519501686, + 0.05471373789916478 + ], + [ + 0.002337831538170576, + 0.029894812032580376, + 0.9995503425598145, + 0.007906582438344113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.01258914452046156, + -0.0018306297715753317, + -0.005422827518432085 + ], + [ + 0.012528822757303715, + 0.9994746446609497, + -0.029891854152083397, + 0.055171371407214564 + ], + [ + 0.002205980708822608, + 0.029866499826312065, + 0.9995514750480652, + 0.00795066460117573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.012539485469460487, + -0.0017005691770464182, + -0.005298630340282015 + ], + [ + 0.012483133003115654, + 0.9994760751724243, + -0.029861805960536003, + 0.05562900850027176 + ], + [ + 0.00207412987947464, + 0.029838187620043755, + 0.9995526075363159, + 0.007994738904268297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.012489832006394863, + -0.0015705085825175047, + -0.005174375789933624 + ], + [ + 0.012437441386282444, + 0.9994775652885437, + -0.029831761494278908, + 0.05608663702671997 + ], + [ + 0.001942281611263752, + 0.02980986423790455, + 0.9995536804199219, + 0.008038753161604309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874756, + -0.012440181337296963, + -0.0014404463581740856, + -0.00505007387696138 + ], + [ + 0.012391743250191212, + 0.9994789958000183, + -0.02980172075331211, + 0.0565442579124263 + ], + [ + 0.001810434740036726, + 0.029781533405184746, + 0.9995548129081726, + 0.008082709078790004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525024, + -0.012390530668199062, + -0.0013103809906169772, + -0.00492573064814271 + ], + [ + 0.012346039526164532, + 0.9994804859161377, + -0.02977168560028076, + 0.05700188331991808 + ], + [ + 0.0016785872867330909, + 0.029753196984529495, + 0.9995558857917786, + 0.008126655703013038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.012340889312326908, + -0.0011803125962615013, + -0.00480133830316396 + ], + [ + 0.012300335802137852, + 0.9994819164276123, + -0.029741661623120308, + 0.057459497311499325 + ], + [ + 0.001546739600598812, + 0.029724856838583946, + 0.9995568990707397, + 0.008170543830046843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9999238848686218, + -0.012291247956454754, + -0.001050242455676198, + -0.004676889981801727 + ], + [ + 0.012254626490175724, + 0.9994834065437317, + -0.029711641371250153, + 0.05791711028680892 + ], + [ + 0.0014148929622024298, + 0.0296965092420578, + 0.9995579719543457, + 0.0082143717309047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.012241614051163197, + -0.0009201763896271586, + -0.004552388902964016 + ], + [ + 0.012208915315568447, + 0.9994848370552063, + -0.029681628569960594, + 0.05837470993368446 + ], + [ + 0.0012830534251406789, + 0.029668157920241356, + 0.9995589852333069, + 0.008258141587765023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.01219198014587164, + -0.000790105143096298, + -0.004427851178921042 + ], + [ + 0.012163196690380573, + 0.9994862675666809, + -0.029651617631316185, + 0.058832320090866475 + ], + [ + 0.001151211210526526, + 0.029639793559908867, + 0.9995599985122681, + 0.008301902861260344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.012142352759838104, + -0.0006600305205211043, + -0.004303261325363397 + ], + [ + 0.012117477133870125, + 0.9994877576828003, + -0.029621616005897522, + 0.05928991254278805 + ], + [ + 0.001019368413835764, + 0.02961142733693123, + 0.9995609521865845, + 0.008345603445646154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.012092728167772293, + -0.0005299564218148589, + -0.004178635315057747 + ], + [ + 0.012071752920746803, + 0.9994891881942749, + -0.029591618105769157, + 0.059747515805844975 + ], + [ + 0.0008875289931893349, + 0.029583053663372993, + 0.9995619058609009, + 0.00838929732061268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.012043104507029057, + -0.000399880635086447, + -0.004053953891838258 + ], + [ + 0.01202602218836546, + 0.9994906187057495, + -0.029561622068285942, + 0.06020511281540204 + ], + [ + 0.0007556906784884632, + 0.029554666951298714, + 0.9995628595352173, + 0.008432931820063163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937561, + -0.011993487365543842, + -0.00026980513939633965, + -0.00392922105435204 + ], + [ + 0.011980288662016392, + 0.9994920492172241, + -0.02953164279460907, + 0.06066269984616893 + ], + [ + 0.0006238554487936199, + 0.02952628582715988, + 0.9995638132095337, + 0.008476506748380895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011943873949348927, + -0.00013972652959637344, + -0.0038044530880797234 + ], + [ + 0.011934553273022175, + 0.9994934797286987, + -0.029501663520932198, + 0.061120286211371416 + ], + [ + 0.0004920198116451502, + 0.029497889801859856, + 0.9995647072792053, + 0.008520071940675814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01189426239579916, + -9.646406397223473e-06, + -0.0036796300371945154 + ], + [ + 0.01188881229609251, + 0.9994949102401733, + -0.029471686109900475, + 0.061577871911009496 + ], + [ + 0.0003601855132728815, + 0.029469488188624382, + 0.999565601348877, + 0.008563579798960537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.011844655498862267, + 0.00012043706374242902, + -0.0035547533242039726 + ], + [ + 0.011843066662549973, + 0.999496340751648, + -0.029441719874739647, + 0.06203544576921223 + ], + [ + 0.00022835057461634278, + 0.02944107912480831, + 0.9995664954185486, + 0.008607026420253091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749023, + -0.011795052327215672, + 0.0002505199227016419, + -0.0034298421941682013 + ], + [ + 0.011797317303717136, + 0.9994977712631226, + -0.029411757364869118, + 0.062493028275076315 + ], + [ + 9.651906293584034e-05, + 0.029412666335701942, + 0.9995673298835754, + 0.008650466620485653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.01174545381218195, + 0.00038060269434936345, + -0.003304875783123481 + ], + [ + 0.011751565150916576, + 0.9994992017745972, + -0.029381804168224335, + 0.06295060080215023 + ], + [ + -3.530949470587075e-05, + 0.029384247958660126, + 0.9995681643486023, + 0.008693847137359146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011695857159793377, + 0.0005106886965222657, + -0.003179859658157663 + ], + [ + 0.011705807410180569, + 0.999500572681427, + -0.02935185469686985, + 0.06340815967658074 + ], + [ + -0.00016713862714823335, + 0.029355822131037712, + 0.9995689988136292, + 0.008737166859521276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011646265164017677, + 0.000640776299405843, + -0.003054806887986583 + ], + [ + 0.011660046875476837, + 0.9995020031929016, + -0.029321910813450813, + 0.0638657289849415 + ], + [ + -0.00029896647902205586, + 0.029327386990189552, + 0.999569833278656, + 0.008780478689211682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011596676893532276, + 0.0007708650082349777, + -0.0029296969020715814 + ], + [ + 0.011614282615482807, + 0.9995034337043762, + -0.029291970655322075, + 0.06432329203980237 + ], + [ + -0.00043079277384094894, + 0.029298944398760796, + 0.9995706081390381, + 0.008823732032234074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.011547092348337173, + 0.0009009555215016007, + -0.0028045372720846757 + ], + [ + 0.011568514630198479, + 0.999504804611206, + -0.029262039810419083, + 0.06478083391662172 + ], + [ + -0.0005626180209219456, + 0.02927049994468689, + 0.9995713829994202, + 0.008866924611329409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071411, + -0.01149750966578722, + 0.001031049177981913, + -0.0026793391188552063 + ], + [ + 0.011522739194333553, + 0.9995062351226807, + -0.02923211269080639, + 0.0652383956154146 + ], + [ + -0.0006944435881450772, + 0.02924204431474209, + 0.9995720982551575, + 0.008910109560204101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.011447933502495289, + 0.00116114248521626, + -0.0025540933409456366 + ], + [ + 0.011476964689791203, + 0.9995076060295105, + -0.02920219674706459, + 0.0656959379489327 + ], + [ + -0.0008262660703621805, + 0.029213588684797287, + 0.9995728731155396, + 0.008953234375255751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.011398359201848507, + 0.0012912353267893195, + -0.0024287885592697055 + ], + [ + 0.011431182734668255, + 0.9995090365409851, + -0.029172277078032494, + 0.06615348152785122 + ], + [ + -0.0009580852347426116, + 0.029185118153691292, + 0.9995735883712769, + 0.008996300428918715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.011348787695169449, + 0.0014213332906365395, + -0.0023034508260177393 + ], + [ + 0.011385397985577583, + 0.9995104074478149, + -0.029142368584871292, + 0.06661102245542294 + ], + [ + -0.001089907018467784, + 0.029156643897294998, + 0.9995742440223694, + 0.009039358133411182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.99993497133255, + -0.011299221776425838, + 0.001551430905237794, + -0.0021780522410644832 + ], + [ + 0.011339609511196613, + 0.9995118379592896, + -0.02911246567964554, + 0.06706856095298315 + ], + [ + -0.0012217252515256405, + 0.029128164052963257, + 0.9995749592781067, + 0.009082356082065085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.011249659582972527, + 0.001681528170593083, + -0.0020526117817148033 + ], + [ + 0.011293817311525345, + 0.9995132088661194, + -0.02908257022500038, + 0.06752608743609244 + ], + [ + -0.0013535405742004514, + 0.029099680483341217, + 0.9995756149291992, + 0.009125294447895997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.011200102046132088, + 0.001811628695577383, + -0.0019271328608860031 + ], + [ + 0.011248022317886353, + 0.9995145797729492, + -0.02905268222093582, + 0.06798361692904926 + ], + [ + -0.0014853563625365496, + 0.02907118946313858, + 0.999576210975647, + 0.009168224087351285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068665, + -0.011150544509291649, + 0.001941730733960867, + -0.0018015927369180271 + ], + [ + 0.011202219873666763, + 0.999515950679779, + -0.02902279794216156, + 0.06844114011862786 + ], + [ + -0.0016171708703041077, + 0.029042690992355347, + 0.9995768666267395, + 0.009211096562304882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.011100993491709232, + 0.0020718355663120747, + -0.00167600334038428 + ], + [ + 0.0111564164981246, + 0.9995173811912537, + -0.028992917388677597, + 0.06889866097795165 + ], + [ + -0.0017489854944869876, + 0.029014181345701218, + 0.9995774626731873, + 0.00925390684205618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.011051444336771965, + 0.002201942726969719, + -0.0015503846815929489 + ], + [ + 0.011110605672001839, + 0.9995187520980835, + -0.02896304242312908, + 0.06935617903629357 + ], + [ + -0.0018807994201779366, + 0.02898566983640194, + 0.999578058719635, + 0.009296708913699228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.01100190170109272, + 0.0023320468608289957, + -0.0014247073039605387 + ], + [ + 0.011064795777201653, + 0.9995201230049133, + -0.028933178633451462, + 0.0698136889286121 + ], + [ + -0.0020126078743487597, + 0.028957150876522064, + 0.9995786547660828, + 0.009339451466036267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.010952360928058624, + 0.002462154719978571, + -0.0012989951865713474 + ], + [ + 0.01101897843182087, + 0.9995214939117432, + -0.02890331670641899, + 0.07027121300664906 + ], + [ + -0.00214441679418087, + 0.02892862632870674, + 0.9995791912078857, + 0.009382187294146381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9999371767044067, + -0.010902822948992252, + 0.0025922637432813644, + -0.0011732109169445048 + ], + [ + 0.010973156429827213, + 0.999522864818573, + -0.028873462229967117, + 0.07072870470427568 + ], + [ + -0.002276224549859762, + 0.02890009433031082, + 0.9995797276496887, + 0.00942480910343418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.010853239335119724, + 0.0027225082740187645, + -0.0010472709298483096 + ], + [ + 0.010927286930382252, + 0.9995242357254028, + -0.028843583539128304, + 0.07118625529110433 + ], + [ + -0.0024081668816506863, + 0.028871526941657066, + 0.9995802044868469, + 0.009467480797320604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/boom_up/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1d549c22737ded908be3e7a091bc3be3de194ca5 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/boom_up/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.0032555165234953165, + -0.005529353395104408, + -0.005578282207667547 + ], + [ + 0.0032319806050509214, + 0.9999856948852539, + -0.004260140471160412, + -0.00509515631452951 + ], + [ + 0.00554314348846674, + 0.0042421817779541016, + 0.9999756217002869, + -0.0007434608867278938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005377934314310551, + -0.011360308155417442, + -0.011178931008603532 + ], + [ + 0.00532000046223402, + 0.9999727010726929, + -0.005123721901327372, + -0.006859106658159066 + ], + [ + 0.011387553066015244, + 0.005062880460172892, + 0.9999223351478577, + -0.0023178534056196402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998708367347717, + -0.010394159704446793, + -0.012257437221705914, + -0.013032810598081875 + ], + [ + 0.010184912011027336, + 0.9998034238815308, + -0.01701173558831215, + -0.01919270878712253 + ], + [ + 0.012431849725544453, + 0.0168846994638443, + 0.9997801780700684, + -0.00025385646142209704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014360994100570679, + -0.017254116013646126, + -0.01824816546274279 + ], + [ + 0.013956792652606964, + 0.9996305704116821, + -0.023322783410549164, + -0.026292400024675425 + ], + [ + 0.01758267916738987, + 0.023076094686985016, + 0.9995790719985962, + -0.0006575055353179823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002441, + -0.01868932694196701, + -0.02287096530199051, + -0.02407903760422224 + ], + [ + 0.017997808754444122, + 0.9993855357170105, + -0.030076881870627403, + -0.03386797152740187 + ], + [ + 0.023419030010700226, + 0.029652131721377373, + 0.999285876750946, + -0.001229529716191369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999367356300354, + -0.022492164745926857, + -0.02754915878176689, + -0.028957456752470846 + ], + [ + 0.021495414897799492, + 0.9991220831871033, + -0.03595762699842453, + -0.04052378206385229 + ], + [ + 0.028333738446235657, + 0.03534270077943802, + 0.998973548412323, + -0.0017624999586469397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.02244180254638195, + -0.027419451624155045, + -0.028824267802159905 + ], + [ + 0.02145053632557392, + 0.9991242289543152, + -0.035926420241594315, + -0.04090160165122363 + ], + [ + 0.028201691806316376, + 0.03531569615006447, + 0.9989781975746155, + -0.001739755585579256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.022391442209482193, + -0.0272897407412529, + -0.028691124715004505 + ], + [ + 0.021405648440122604, + 0.9991262555122375, + -0.0358952134847641, + -0.04127942263518916 + ], + [ + 0.028069641441106796, + 0.03528868407011032, + 0.9989829063415527, + -0.0017169719421651574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.022341091185808182, + -0.027160027995705605, + -0.028558008834158526 + ], + [ + 0.021360762417316437, + 0.9991283416748047, + -0.03586401417851448, + -0.04165724926476199 + ], + [ + 0.027937596663832664, + 0.035261671990156174, + 0.9989875555038452, + -0.0016942009683425644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.022290736436843872, + -0.02703031711280346, + -0.028424925790421635 + ], + [ + 0.021315868943929672, + 0.9991304278373718, + -0.03583282232284546, + -0.04203508881594845 + ], + [ + 0.027805553749203682, + 0.03523464500904083, + 0.9989922046661377, + -0.001671442252517557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.02224038913846016, + -0.026900604367256165, + -0.028291869949097413 + ], + [ + 0.02127097174525261, + 0.999132513999939, + -0.03580164536833763, + -0.04241293383816795 + ], + [ + 0.02767351269721985, + 0.03520762547850609, + 0.9989967942237854, + -0.0016486962281058398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.022190045565366745, + -0.02677088789641857, + -0.0281588618086347 + ], + [ + 0.021226070821285248, + 0.9991346001625061, + -0.03577045723795891, + -0.04279078433142047 + ], + [ + 0.027541467919945717, + 0.03518058732151985, + 0.9990013837814331, + -0.0016259107358800441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.02213970199227333, + -0.02664116583764553, + -0.028025884620814144 + ], + [ + 0.02118116244673729, + 0.9991366863250732, + -0.03573928028345108, + -0.04316863657041574 + ], + [ + 0.027409421280026436, + 0.03515353798866272, + 0.9990059733390808, + -0.001603137364973427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.022089364007115364, + -0.02651144377887249, + -0.027892953254064257 + ], + [ + 0.021136252209544182, + 0.9991387128829956, + -0.03570811077952385, + -0.04354649765658578 + ], + [ + 0.027277378365397453, + 0.03512648865580559, + 0.9990105628967285, + -0.0015803252933274128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424072, + -0.022039031609892845, + -0.02638172172009945, + -0.027760049074919402 + ], + [ + 0.021091340109705925, + 0.9991407990455627, + -0.03567694500088692, + -0.043924360812707924 + ], + [ + 0.02714533917605877, + 0.03509943559765816, + 0.9990150928497314, + -0.0015575252546418349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954102, + -0.021988702937960625, + -0.02625199593603611, + -0.02762717581412533 + ], + [ + 0.02104642428457737, + 0.9991428256034851, + -0.03564579039812088, + -0.04430223649141679 + ], + [ + 0.027013299986720085, + 0.03507237136363983, + 0.9990196228027344, + -0.001534737776438842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.021938370540738106, + -0.02612226828932762, + -0.02749435214645319 + ], + [ + 0.02100149728357792, + 0.9991449117660522, + -0.035614632070064545, + -0.044680114289956115 + ], + [ + 0.026881258934736252, + 0.03504529595375061, + 0.9990241527557373, + -0.0015119108070412875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967712, + -0.021888047456741333, + -0.025992536917328835, + -0.027361535137542622 + ], + [ + 0.020956572145223618, + 0.9991469383239746, + -0.0355834886431694, + -0.04505801201178439 + ], + [ + 0.02674921788275242, + 0.03501822054386139, + 0.9990286231040955, + -0.0014891476769810816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451294, + -0.02183772623538971, + -0.025862807407975197, + -0.027228786302223865 + ], + [ + 0.02091164141893387, + 0.9991490244865417, + -0.03555235639214516, + -0.0454358970021603 + ], + [ + 0.026617182418704033, + 0.034991148859262466, + 0.9990330934524536, + -0.0014662946312333687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.021787410601973534, + -0.02573307417333126, + -0.027096046002340116 + ], + [ + 0.02086670882999897, + 0.9991510510444641, + -0.03552122041583061, + -0.045813801865946795 + ], + [ + 0.02648514322936535, + 0.03496405854821205, + 0.9990375638008118, + -0.0014435049228245494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.021737094968557358, + -0.025603339076042175, + -0.026963355258169532 + ], + [ + 0.020821768790483475, + 0.9991530776023865, + -0.035490091890096664, + -0.04619170470030737 + ], + [ + 0.026353105902671814, + 0.03493696078658104, + 0.9990419745445251, + -0.0014206760646736398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.02168678492307663, + -0.02547360025346279, + -0.0268307121556299 + ], + [ + 0.02077682688832283, + 0.9991551637649536, + -0.03545896336436272, + -0.046569606053904006 + ], + [ + 0.02622106857597828, + 0.03490985557436943, + 0.9990464448928833, + -0.0013978075817671592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.02163648046553135, + -0.025343861430883408, + -0.026698079434804088 + ], + [ + 0.020731879398226738, + 0.999157190322876, + -0.035427846014499664, + -0.046947530931384 + ], + [ + 0.026089034974575043, + 0.03488274663686752, + 0.9990508556365967, + -0.0013750034594853802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636963, + -0.02158617600798607, + -0.025214120745658875, + -0.0265654943976941 + ], + [ + 0.020686928182840347, + 0.9991592168807983, + -0.03539673238992691, + -0.04732545750472835 + ], + [ + 0.025956999510526657, + 0.03485562652349472, + 0.9990552067756653, + -0.0013521598922829124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.021535879001021385, + -0.025084376335144043, + -0.02643293833991349 + ], + [ + 0.020641973242163658, + 0.9991612434387207, + -0.03536563366651535, + -0.047703385773937075 + ], + [ + 0.02582496777176857, + 0.03482850641012192, + 0.9990595579147339, + -0.0013293284386061287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.021485578268766403, + -0.024954630061984062, + -0.02630043000014008 + ], + [ + 0.020597010850906372, + 0.9991632699966431, + -0.03533452749252319, + -0.04808132318959077 + ], + [ + 0.025692934170365334, + 0.03480137139558792, + 0.9990639090538025, + -0.0013064578882317256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.021435288712382317, + -0.02482488378882408, + -0.026167952450904138 + ], + [ + 0.020552048459649086, + 0.9991652965545654, + -0.03530343621969223, + -0.04845925857581853 + ], + [ + 0.025560900568962097, + 0.03477424383163452, + 0.9990682601928711, + -0.0012835997559137984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106812, + -0.02138499729335308, + -0.024695131927728653, + -0.02603550024299442 + ], + [ + 0.020507080480456352, + 0.9991673231124878, + -0.035272352397441864, + -0.048837218009652454 + ], + [ + 0.02542886883020401, + 0.03474710136651993, + 0.9990725517272949, + -0.001260754021973774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.021334711462259293, + -0.024565381929278374, + -0.02590309750273138 + ], + [ + 0.02046210691332817, + 0.9991693496704102, + -0.0352412685751915, + -0.04921516796347985 + ], + [ + 0.025296838954091072, + 0.03471995145082474, + 0.9990768432617188, + -0.0012378687204629433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.021284429356455803, + -0.024435628205537796, + -0.025770723757384713 + ], + [ + 0.02041713334619999, + 0.9991713762283325, + -0.03521019220352173, + -0.04959312333846192 + ], + [ + 0.025164809077978134, + 0.03469279408454895, + 0.9990811347961426, + -0.0012149954722243436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.02123415283858776, + -0.02430587448179722, + -0.02563837711547334 + ], + [ + 0.02037215419113636, + 0.9991733431816101, + -0.035179123282432556, + -0.04997110198793551 + ], + [ + 0.025032782927155495, + 0.03466563671827316, + 0.9990854263305664, + -0.0011921350630370424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297974, + -0.02118387445807457, + -0.024176113307476044, + -0.025506080021481633 + ], + [ + 0.020327165722846985, + 0.9991753697395325, + -0.035148054361343384, + -0.050349064454997434 + ], + [ + 0.02490074932575226, + 0.034638457000255585, + 0.9990896582603455, + -0.0011692345156977303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595764, + -0.021133603528141975, + -0.024046355858445168, + -0.025373809997413198 + ], + [ + 0.02028217725455761, + 0.9991773962974548, + -0.03511699289083481, + -0.050727050969665524 + ], + [ + 0.02476872317492962, + 0.03461127728223801, + 0.9990938901901245, + -0.0011463469633283133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847107, + -0.02108333446085453, + -0.023916592821478844, + -0.02524157083869978 + ], + [ + 0.020237186923623085, + 0.9991793632507324, + -0.03508593887090683, + -0.05110503460697549 + ], + [ + 0.02463669516146183, + 0.03458409756422043, + 0.9990980625152588, + -0.001123471008944929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.021033067256212234, + -0.02378683164715767, + -0.025109379306809673 + ], + [ + 0.020192187279462814, + 0.9991813898086548, + -0.03505489602684975, + -0.051483024488433136 + ], + [ + 0.02450467273592949, + 0.03455691412091255, + 0.9991022944450378, + -0.0011005563647817494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303345, + -0.020982807502150536, + -0.023657064884901047, + -0.024977218551428745 + ], + [ + 0.020147187635302544, + 0.9991833567619324, + -0.035023849457502365, + -0.051861026343815494 + ], + [ + 0.0243726447224617, + 0.03452971205115318, + 0.9991064667701721, + -0.0010776535005826956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999504029750824, + -0.020932547748088837, + -0.023527298122644424, + -0.024845081227967927 + ], + [ + 0.020102180540561676, + 0.9991853833198547, + -0.03499281778931618, + -0.052239034493223896 + ], + [ + 0.02424062043428421, + 0.034502509981393814, + 0.9991105794906616, + -0.001054763030572541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713135, + -0.020882295444607735, + -0.023397531360387802, + -0.02471299515764334 + ], + [ + 0.02005717344582081, + 0.9991873502731323, + -0.03496179357171059, + -0.05261703966551745 + ], + [ + 0.02410859987139702, + 0.034475307911634445, + 0.9991147518157959, + -0.0010318334118675472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.020832043141126633, + -0.023267757147550583, + -0.024580938100939514 + ], + [ + 0.020012158900499344, + 0.9991893768310547, + -0.0349307619035244, + -0.052995058632296 + ], + [ + 0.023976575583219528, + 0.034448083490133286, + 0.9991188645362854, + -0.0010089153860584604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030029, + -0.02078179642558098, + -0.023137984797358513, + -0.02444892859078601 + ], + [ + 0.01996713876724243, + 0.9991913437843323, + -0.034899741411209106, + -0.05337307457208135 + ], + [ + 0.023844553157687187, + 0.034420862793922424, + 0.9991229176521301, + -0.000985958313405763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188477, + -0.020731551572680473, + -0.023008208721876144, + -0.024316929431172345 + ], + [ + 0.01992211677134037, + 0.9991933107376099, + -0.03486872836947441, + -0.05375111078430419 + ], + [ + 0.023712530732154846, + 0.03439362719655037, + 0.9991270303726196, + -0.0009630646155737964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.020681310445070267, + -0.022878430783748627, + -0.024184975977285635 + ], + [ + 0.01987709105014801, + 0.9991952776908875, + -0.03483772277832031, + -0.054129148642513045 + ], + [ + 0.023580510169267654, + 0.034366391599178314, + 0.9991310834884644, + -0.0009401317118865799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412476, + -0.02063107118010521, + -0.02274865098297596, + -0.02405307384589726 + ], + [ + 0.019832059741020203, + 0.999197244644165, + -0.034806717187166214, + -0.05450718442141761 + ], + [ + 0.023448491469025612, + 0.03433914855122566, + 0.9991351366043091, + -0.0009171596138151636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524475, + -0.02058083936572075, + -0.022618873044848442, + -0.0239211987174081 + ], + [ + 0.019787024706602097, + 0.9991992115974426, + -0.03477573022246361, + -0.054885229296888764 + ], + [ + 0.02331647463142872, + 0.03431190177798271, + 0.999139130115509, + -0.0008941999234738428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636475, + -0.020530609413981438, + -0.022489085793495178, + -0.02378935068767814 + ], + [ + 0.01974198780953884, + 0.999201238155365, + -0.034744735807180405, + -0.055263284391189715 + ], + [ + 0.023184452205896378, + 0.034284647554159164, + 0.9991431832313538, + -0.0008712517947935651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.020480381324887276, + -0.022359302267432213, + -0.023657533479659626 + ], + [ + 0.01969694159924984, + 0.9992032051086426, + -0.0347137525677681, + -0.055641347484733275 + ], + [ + 0.023052437230944633, + 0.03425738215446472, + 0.9991471171379089, + -0.0008483161944598856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.02043016068637371, + -0.022229516878724098, + -0.023525763744932586 + ], + [ + 0.019651899114251137, + 0.9992051124572754, + -0.034682776778936386, + -0.056019414777411576 + ], + [ + 0.02292042039334774, + 0.03423011675477028, + 0.9991511106491089, + -0.000825341261468368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786682, + -0.020379941910505295, + -0.022099725902080536, + -0.023394022959919655 + ], + [ + 0.019606847316026688, + 0.999207079410553, + -0.034651800990104675, + -0.05639748858856855 + ], + [ + 0.022788405418395996, + 0.03420283645391464, + 0.9991550445556641, + -0.0008023778829106449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805786, + -0.02032972313463688, + -0.021969936788082123, + -0.023262327924277244 + ], + [ + 0.01956179179251194, + 0.9992090463638306, + -0.03462084010243416, + -0.05677555659513094 + ], + [ + 0.0226563923060894, + 0.034175556153059006, + 0.9991589784622192, + -0.0007793756030589073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999555766582489, + -0.02027951367199421, + -0.021840142086148262, + -0.02313064491555531 + ], + [ + 0.019516734406352043, + 0.9992110133171082, + -0.03458987548947334, + -0.057153652324711424 + ], + [ + 0.022524377331137657, + 0.034148264676332474, + 0.9991629123687744, + -0.0007564364626065284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.02022930048406124, + -0.0217103473842144, + -0.022999030079645842 + ], + [ + 0.01947166956961155, + 0.9992129802703857, + -0.03455892205238342, + -0.057531734799116725 + ], + [ + 0.022392362356185913, + 0.03412096947431564, + 0.9991668462753296, + -0.0007334069523848594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.02017909660935402, + -0.02158055081963539, + -0.02286742539554211 + ], + [ + 0.019426602870225906, + 0.9992148876190186, + -0.0345279723405838, + -0.05790983624912206 + ], + [ + 0.022260352969169617, + 0.03409366309642792, + 0.99917072057724, + -0.0007104405279084504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.020128892734646797, + -0.02145075425505638, + -0.022735866448339307 + ], + [ + 0.019381528720259666, + 0.9992168545722961, + -0.03449702635407448, + -0.05828793316643108 + ], + [ + 0.02212834358215332, + 0.03406635299324989, + 0.9991745948791504, + -0.0006874347952982141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.020078696310520172, + -0.021320953965187073, + -0.022604330717956173 + ], + [ + 0.019336454570293427, + 0.999218761920929, + -0.03446609526872635, + -0.058666049009461776 + ], + [ + 0.021996330469846725, + 0.03403903543949127, + 0.999178409576416, + -0.0006644412818063775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.020028501749038696, + -0.021191153675317764, + -0.022472831362149205 + ], + [ + 0.01929137483239174, + 0.9992207288742065, + -0.03443516790866852, + -0.05904417154554543 + ], + [ + 0.021864324808120728, + 0.03401172161102295, + 0.9991822242736816, + -0.0006414601297646753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567932, + -0.01997831091284752, + -0.021061349660158157, + -0.022341377648162544 + ], + [ + 0.019246291369199753, + 0.9992226362228394, + -0.034404244273900986, + -0.05942229060573059 + ], + [ + 0.02173231542110443, + 0.033984389156103134, + 0.9991860389709473, + -0.000618439051687959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.01992812380194664, + -0.020931540057063103, + -0.02220997702190068 + ], + [ + 0.019201204180717468, + 0.9992246031761169, + -0.03437332063913345, + -0.059800408958266466 + ], + [ + 0.021600304171442986, + 0.03395704925060272, + 0.9991898536682129, + -0.0005953783343889981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.01987793669104576, + -0.020801736041903496, + -0.02207857741502788 + ], + [ + 0.019156109541654587, + 0.9992265105247498, + -0.034342408180236816, + -0.06017854986205759 + ], + [ + 0.021468302235007286, + 0.03392971307039261, + 0.9991936087608337, + -0.0005723819366771197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.01982775516808033, + -0.020671922713518143, + -0.021947228981018314 + ], + [ + 0.019111013039946556, + 0.9992284178733826, + -0.03431149944663048, + -0.060556684911375766 + ], + [ + 0.02133629471063614, + 0.033902358263731, + 0.9991973638534546, + -0.0005493451633917316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.019777577370405197, + -0.02054211124777794, + -0.021815911270522174 + ], + [ + 0.019065912812948227, + 0.9992303848266602, + -0.03428059071302414, + -0.06093483050373309 + ], + [ + 0.02120428904891014, + 0.0338749960064888, + 0.9992011189460754, + -0.0005263200619844446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.019727405160665512, + -0.020412297919392586, + -0.021684642857774532 + ], + [ + 0.01902081072330475, + 0.999232292175293, + -0.03424970060586929, + -0.06131297994607662 + ], + [ + 0.021072285249829292, + 0.033847637474536896, + 0.9992048144340515, + -0.0005032564714067776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.019677232950925827, + -0.020282482728362083, + -0.02155339780368815 + ], + [ + 0.018975701183080673, + 0.9992341995239258, + -0.03421881049871445, + -0.06169113470981809 + ], + [ + 0.020940283313393593, + 0.033820271492004395, + 0.9992085099220276, + -0.0004802047179780011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.01962706632912159, + -0.020152663812041283, + -0.021422183411546582 + ], + [ + 0.01893058605492115, + 0.9992361068725586, + -0.0341879241168499, + -0.062069302245538104 + ], + [ + 0.020808277651667595, + 0.033792894333601, + 0.9992122054100037, + -0.00045716472325172417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.0195769015699625, + -0.020022844895720482, + -0.02129099604880211 + ], + [ + 0.018885469064116478, + 0.9992380142211914, + -0.03415704891085625, + -0.06244748255323665 + ], + [ + 0.020676275715231895, + 0.0337655134499073, + 0.9992159008979797, + -0.0004341369346475859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.019526740536093712, + -0.019893022254109383, + -0.021159859876845922 + ], + [ + 0.018840348348021507, + 0.9992399215698242, + -0.034126173704862595, + -0.06282566445704285 + ], + [ + 0.020544273778796196, + 0.033738117665052414, + 0.999219536781311, + -0.0004110691514135062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.01947658509016037, + -0.019763201475143433, + -0.021028752487823054 + ], + [ + 0.01879522204399109, + 0.999241828918457, + -0.03409530594944954, + -0.06320384050637609 + ], + [ + 0.020412277430295944, + 0.033710721880197525, + 0.9992231726646423, + -0.00038801380399045655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.019426429644227028, + -0.019633373245596886, + -0.02089769079517495 + ], + [ + 0.018750092014670372, + 0.9992437362670898, + -0.034064438194036484, + -0.06358202560239756 + ], + [ + 0.020280277356505394, + 0.03368331864476204, + 0.9992267489433289, + -0.000364918092891153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428345, + -0.01937628537416458, + -0.019503546878695488, + -0.020766659579765846 + ], + [ + 0.018704961985349655, + 0.9992456436157227, + -0.03403358906507492, + -0.06396021974510727 + ], + [ + 0.020148279145359993, + 0.033655911684036255, + 0.9992303848266602, + -0.00034183537476466155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.019326139241456985, + -0.019373716786503792, + -0.020635657341348076 + ], + [ + 0.01865982636809349, + 0.9992475509643555, + -0.03400273993611336, + -0.06433842665979553 + ], + [ + 0.020016280934214592, + 0.033628497272729874, + 0.9992339611053467, + -0.0003187641986084627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862732, + -0.01927599310874939, + -0.019243888556957245, + -0.020504700791511576 + ], + [ + 0.01861467957496643, + 0.9992493987083435, + -0.03397189453244209, + -0.0647166259742681 + ], + [ + 0.01988428458571434, + 0.0336010716855526, + 0.9992374777793884, + -0.0002956530485968554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556702, + -0.01922585628926754, + -0.01911405473947525, + -0.02037377288978095 + ], + [ + 0.01856953464448452, + 0.9992513060569763, + -0.033941056579351425, + -0.06509483978152275 + ], + [ + 0.019752290099859238, + 0.033573638647794724, + 0.999241054058075, + -0.0002725541172256872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.01917572133243084, + -0.018984220921993256, + -0.02024287757420889 + ], + [ + 0.01852438785135746, + 0.9992532134056091, + -0.033910226076841354, + -0.06547306636075594 + ], + [ + 0.019620295614004135, + 0.03354620561003685, + 0.9992445707321167, + -0.00024946796884136777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.01912558451294899, + -0.018854383379220963, + -0.020112026132113266 + ], + [ + 0.018479228019714355, + 0.9992550611495972, + -0.03387940302491188, + -0.0658512852649559 + ], + [ + 0.019488301128149033, + 0.03351876512169838, + 0.9992480874061584, + -0.00022634123227944798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.019075460731983185, + -0.01872454583644867, + -0.019981205065941213 + ], + [ + 0.0184340737760067, + 0.99925696849823, + -0.033848583698272705, + -0.06622951128617491 + ], + [ + 0.01935631036758423, + 0.03349132090806961, + 0.9992515444755554, + -0.0002032270989182042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.01902533881366253, + -0.018594708293676376, + -0.01985041471003364 + ], + [ + 0.018388913944363594, + 0.999258816242218, + -0.03381776437163353, + -0.06660775565951439 + ], + [ + 0.019224319607019424, + 0.03346386179327965, + 0.9992550015449524, + -0.00018012422384405856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.018975213170051575, + -0.018464861437678337, + -0.019719670140905362 + ], + [ + 0.018343742936849594, + 0.9992607235908508, + -0.03378695249557495, + -0.06698599602388039 + ], + [ + 0.019092323258519173, + 0.03343639522790909, + 0.9992584586143494, + -0.00015698142791026608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.018925096839666367, + -0.018335022032260895, + -0.019588954179356785 + ], + [ + 0.018298573791980743, + 0.9992625713348389, + -0.033756155520677567, + -0.06736424723990792 + ], + [ + 0.018960338085889816, + 0.03340892866253853, + 0.9992619156837463, + -0.00013385150332206452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.018874982371926308, + -0.018205175176262856, + -0.0194582670568547 + ], + [ + 0.018253399059176445, + 0.9992644190788269, + -0.03372535482048988, + -0.06774250372745502 + ], + [ + 0.01882834918797016, + 0.03338145092129707, + 0.9992653131484985, + -0.00011073239732175178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.018824871629476547, + -0.018075326457619667, + -0.019327627335943936 + ], + [ + 0.018208220601081848, + 0.9992663264274597, + -0.033694565296173096, + -0.06812076745671708 + ], + [ + 0.018696362152695656, + 0.03335396945476532, + 0.9992687106132507, + -8.75743417747348e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.018774762749671936, + -0.01794547773897648, + -0.019197018310490015 + ], + [ + 0.018163036555051804, + 0.9992681741714478, + -0.033663779497146606, + -0.06849903078695221 + ], + [ + 0.01856437511742115, + 0.03332647681236267, + 0.9992721080780029, + -6.44276068627709e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.018724659457802773, + -0.017815623432397842, + -0.019066436126609975 + ], + [ + 0.01811785064637661, + 0.9992700219154358, + -0.033633001148700714, + -0.06887730683928753 + ], + [ + 0.018432386219501495, + 0.03329898416996002, + 0.9992754459381104, + -4.129372147461375e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.018674559891223907, + -0.017685772851109505, + -0.018935899467647822 + ], + [ + 0.018072661012411118, + 0.9992718696594238, + -0.03360222652554512, + -0.06925558443785212 + ], + [ + 0.01830040104687214, + 0.03327148035168648, + 0.9992787837982178, + -1.811956602955334e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.01862446404993534, + -0.01755591668188572, + -0.018805397153056565 + ], + [ + 0.01802746392786503, + 0.9992737174034119, + -0.033571455627679825, + -0.0696338747585169 + ], + [ + 0.018168417736887932, + 0.033243972808122635, + 0.9992821216583252, + 5.043508430405347e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231323, + -0.018574370071291924, + -0.017426056787371635, + -0.01867491993039971 + ], + [ + 0.01798226498067379, + 0.9992755651473999, + -0.033540695905685425, + -0.07001216662541093 + ], + [ + 0.018036430701613426, + 0.0332164540886879, + 0.9992853999137878, + 2.819355655165408e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.018524279817938805, + -0.01729620061814785, + -0.01854449194548145 + ], + [ + 0.017937062308192253, + 0.9992774128913879, + -0.03350994363427162, + -0.07039046748911487 + ], + [ + 0.017904451116919518, + 0.03318893536925316, + 0.9992887377738953, + 5.138362952698968e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.018474197015166283, + -0.017166344448924065, + -0.01841409629577124 + ], + [ + 0.017891855910420418, + 0.999279260635376, + -0.03347919136285782, + -0.07076876617375777 + ], + [ + 0.01777247153222561, + 0.033161409199237823, + 0.9992919564247131, + 7.456149214247402e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.01842411234974861, + -0.017036478966474533, + -0.018283720272417845 + ], + [ + 0.017846643924713135, + 0.999281108379364, + -0.03344844654202461, + -0.07114708503108144 + ], + [ + 0.01764049008488655, + 0.033133868128061295, + 0.9992952346801758, + 9.772847270180006e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.01837403140962124, + -0.016906613484025, + -0.018153397199623753 + ], + [ + 0.017801424488425255, + 0.9992828965187073, + -0.033417705446481705, + -0.07152539578940578 + ], + [ + 0.017508508637547493, + 0.03310632333159447, + 0.9992984533309937, + 0.00012093493549316888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.018323954194784164, + -0.01677674800157547, + -0.018023104720971076 + ], + [ + 0.017756205052137375, + 0.9992847442626953, + -0.03338697552680969, + -0.07190372143953913 + ], + [ + 0.017376530915498734, + 0.03307878226041794, + 0.9993016719818115, + 0.0001441286865107433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.018273886293172836, + -0.01664688065648079, + -0.017892837033423918 + ], + [ + 0.017710983753204346, + 0.9992865920066833, + -0.03335624933242798, + -0.07228205236119206 + ], + [ + 0.017244551330804825, + 0.03305122256278992, + 0.9993048906326294, + 0.00016731219259032257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.018223818391561508, + -0.01651701144874096, + -0.017762618694282976 + ], + [ + 0.01766575500369072, + 0.9992884397506714, + -0.03332552686333656, + -0.07266038110378398 + ], + [ + 0.017112577334046364, + 0.0330236591398716, + 0.9993080496788025, + 0.00019053473550374278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.01817375235259533, + -0.01638714037835598, + -0.017632425417461156 + ], + [ + 0.017620524391531944, + 0.9992902278900146, + -0.03329481557011604, + -0.07303872399936162 + ], + [ + 0.016980601474642754, + 0.03299609199166298, + 0.9993112087249756, + 0.000213744980770175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.999703586101532, + -0.01812369003891945, + -0.016257265582680702, + -0.017502285067818153 + ], + [ + 0.017575286328792572, + 0.9992920756340027, + -0.033264096826314926, + -0.07341706326005348 + ], + [ + 0.016848625615239143, + 0.03296850994229317, + 0.9993143677711487, + 0.00023699598766816583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.018073633313179016, + -0.016127392649650574, + -0.017372152863935446 + ], + [ + 0.01753004640340805, + 0.999293863773346, + -0.0332333967089653, + -0.07379543152501394 + ], + [ + 0.016716651618480682, + 0.032940931618213654, + 0.999317467212677, + 0.00026018273418527645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660095, + -0.018023576587438583, + -0.01599751226603985, + -0.0172420904882034 + ], + [ + 0.017484799027442932, + 0.999295711517334, + -0.033202700316905975, + -0.07417377385322518 + ], + [ + 0.01658467762172222, + 0.032913342118263245, + 0.9993206262588501, + 0.0002834618044822287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.017973529174923897, + -0.015867633745074272, + -0.01711203423659921 + ], + [ + 0.017439553514122963, + 0.9992974996566772, + -0.03317200765013695, + -0.07455214513582664 + ], + [ + 0.01645270548760891, + 0.03288574889302254, + 0.9993236660957336, + 0.0003066763347092721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.01792348176240921, + -0.015737753361463547, + -0.01698202731625555 + ], + [ + 0.017394300550222397, + 0.9992992877960205, + -0.03314131498336792, + -0.07493051418948872 + ], + [ + 0.016320735216140747, + 0.032858140766620636, + 0.999326765537262, + 0.0003299319061594839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.017873438075184822, + -0.015607871115207672, + -0.016852045360032982 + ], + [ + 0.017349043861031532, + 0.9993010759353638, + -0.033110640943050385, + -0.0753088847395017 + ], + [ + 0.016188763082027435, + 0.03283053636550903, + 0.9993298053741455, + 0.0003531748048033736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.01782339997589588, + -0.015477987937629223, + -0.01672209759932557 + ], + [ + 0.01730378530919552, + 0.9993029236793518, + -0.03307996690273285, + -0.07568728160658642 + ], + [ + 0.01605679653584957, + 0.032802924513816833, + 0.999332845211029, + 0.00037640583814437423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.01777336187660694, + -0.01534810196608305, + -0.01659219171150459 + ], + [ + 0.017258519306778908, + 0.9993047118186951, + -0.03304930403828621, + -0.0760656663501113 + ], + [ + 0.015924828127026558, + 0.03277530148625374, + 0.9993358850479126, + 0.00039967732546874416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.0177233275026083, + -0.015218214131891727, + -0.01646232195120601 + ], + [ + 0.017213249579072, + 0.9993064999580383, + -0.03301863744854927, + -0.07644406376585801 + ], + [ + 0.015792859718203545, + 0.032747674733400345, + 0.9993388652801514, + 0.0004229372775447107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591675, + -0.017673300579190254, + -0.015088326297700405, + -0.016332495605347046 + ], + [ + 0.01716797985136509, + 0.9993082880973816, + -0.032987985759973526, + -0.07682245895266532 + ], + [ + 0.01566089689731598, + 0.032720040529966354, + 0.9993418455123901, + 0.00044623661511597164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.01762327365577221, + -0.014958432875573635, + -0.016202698084506282 + ], + [ + 0.017122698947787285, + 0.9993100762367249, + -0.03295733034610748, + -0.07720085936111386 + ], + [ + 0.01552892941981554, + 0.03269239515066147, + 0.9993448257446289, + 0.0004695244017544214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.017573250457644463, + -0.01482854038476944, + -0.016072929226579026 + ], + [ + 0.01707741804420948, + 0.9993118643760681, + -0.032926686108112335, + -0.0775792761670745 + ], + [ + 0.0153969656676054, + 0.032664746046066284, + 0.9993477463722229, + 0.0004928004436943073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.017523229122161865, + -0.014698644168674946, + -0.015943189108720883 + ], + [ + 0.017032131552696228, + 0.9993136525154114, + -0.03289603814482689, + -0.07795770191996666 + ], + [ + 0.01526500005275011, + 0.032637085765600204, + 0.9993506669998169, + 0.0005160647236925225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.017473215237259865, + -0.014568750746548176, + -0.01581349610721217 + ], + [ + 0.016986841335892677, + 0.9993154406547546, + -0.03286540508270264, + -0.07833612171862914 + ], + [ + 0.015133040957152843, + 0.032609425485134125, + 0.9993535876274109, + 0.0005393696126672265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.017423205077648163, + -0.014438850805163383, + -0.015683831753029984 + ], + [ + 0.016941551119089127, + 0.9993171691894531, + -0.03283478319644928, + -0.07871455524631124 + ], + [ + 0.015001079067587852, + 0.03258176147937775, + 0.9993565082550049, + 0.0005626613771051918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.01737319864332676, + -0.014308947138488293, + -0.015554218393240015 + ], + [ + 0.01689625345170498, + 0.9993189573287964, + -0.03280416503548622, + -0.07909298546331697 + ], + [ + 0.014869115315377712, + 0.03255408629775047, + 0.9993593692779541, + 0.0005859940258248332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733643, + -0.017323190346360207, + -0.0141790471971035, + -0.015424628338336197 + ], + [ + 0.016850950196385384, + 0.9993207454681396, + -0.03277355059981346, + -0.0794714283525445 + ], + [ + 0.014737159013748169, + 0.0325264073908329, + 0.9993622303009033, + 0.0006093146133326211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.01727319322526455, + -0.014049142599105835, + -0.015295072166428406 + ], + [ + 0.01680564694106579, + 0.9993225336074829, + -0.0327429436147213, + -0.07984987646341324 + ], + [ + 0.014605199918150902, + 0.03249872103333473, + 0.9993650317192078, + 0.0006326237814228155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.017223196104168892, + -0.01391923800110817, + -0.015165559695760824 + ], + [ + 0.016760336235165596, + 0.9993242621421814, + -0.03271232917904854, + -0.08022832702767399 + ], + [ + 0.014473242685198784, + 0.03247101977467537, + 0.999367892742157, + 0.000655973341051006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957642, + -0.017173198983073235, + -0.01378933060914278, + -0.015036077887817407 + ], + [ + 0.016715021803975105, + 0.9993260502815247, + -0.03268173336982727, + -0.08060678555688598 + ], + [ + 0.01434128638356924, + 0.03244331479072571, + 0.9993706941604614, + 0.0006793110987958675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.017123209312558174, + -0.013659421354532242, + -0.014906626390332208 + ], + [ + 0.016669703647494316, + 0.9993277788162231, + -0.0326511412858963, + -0.08098525394019224 + ], + [ + 0.014209331944584846, + 0.03241560608148575, + 0.9993734359741211, + 0.0007026370593334965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.01707322709262371, + -0.013529511168599129, + -0.014777201468662737 + ], + [ + 0.016624385491013527, + 0.9993295669555664, + -0.03262055665254593, + -0.08136373406361835 + ], + [ + 0.014077378436923027, + 0.03238789737224579, + 0.9993762373924255, + 0.0007259505839870314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.0170232392847538, + -0.013399599120020866, + -0.014647824229929737 + ], + [ + 0.016579054296016693, + 0.9993312954902649, + -0.03258997201919556, + -0.08174221654067977 + ], + [ + 0.013945424929261208, + 0.032360173761844635, + 0.9993789792060852, + 0.0007493052423140619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.016973262652754784, + -0.013269683346152306, + -0.014518495730151692 + ], + [ + 0.016533726826310158, + 0.9993330240249634, + -0.03255940228700638, + -0.08212068928834285 + ], + [ + 0.013813471421599388, + 0.03233245015144348, + 0.9993817210197449, + 0.000772699398460124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.01692328415811062, + -0.013139765709638596, + -0.01438917654671679 + ], + [ + 0.016488390043377876, + 0.9993348121643066, + -0.0325288325548172, + -0.08249918875210455 + ], + [ + 0.013681519776582718, + 0.032304711639881134, + 0.9993844032287598, + 0.0007960304050905061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080505, + -0.0168733112514019, + -0.013009847141802311, + -0.014259902635690557 + ], + [ + 0.016443051397800446, + 0.9993365406990051, + -0.03249826654791832, + -0.0828776830441034 + ], + [ + 0.013549569062888622, + 0.03227696940302849, + 0.9993871450424194, + 0.000819400873105334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077759, + -0.01682334393262863, + -0.012879930436611176, + -0.014130659088897655 + ], + [ + 0.016397710889577866, + 0.9993382692337036, + -0.032467711716890335, + -0.0832561862331554 + ], + [ + 0.013417622074484825, + 0.032249223440885544, + 0.9993897676467896, + 0.0008427605157616748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.01677337847650051, + -0.012750009074807167, + -0.014001464712819295 + ], + [ + 0.016352364793419838, + 0.9993399977684021, + -0.03243716061115265, + -0.08363469086867995 + ], + [ + 0.013285674154758453, + 0.032221466302871704, + 0.9993924498558044, + 0.0008661600032423831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.01672341860830784, + -0.01262008585035801, + -0.01387229789609565 + ], + [ + 0.01630701683461666, + 0.9993417263031006, + -0.03240661695599556, + -0.08401320067596735 + ], + [ + 0.01315372809767723, + 0.032193709164857864, + 0.9993950724601746, + 0.0008895470953651677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.016673460602760315, + -0.012490159831941128, + -0.013743158821873835 + ], + [ + 0.016261659562587738, + 0.9993434548377991, + -0.03237607330083847, + -0.0843917268308885 + ], + [ + 0.013021781109273434, + 0.03216593712568283, + 0.9993976950645447, + 0.000912923949758939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.01662350445985794, + -0.012360233813524246, + -0.013614069839557593 + ], + [ + 0.016216300427913666, + 0.9993451833724976, + -0.032345544546842575, + -0.08477024698170159 + ], + [ + 0.012889835983514786, + 0.0321381650865078, + 0.9994003176689148, + 0.0009363401096672693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.016573552042245865, + -0.012230303138494492, + -0.013485010361072908 + ], + [ + 0.016170937567949295, + 0.999346911907196, + -0.03231501206755638, + -0.08514877602956783 + ], + [ + 0.012757889926433563, + 0.03211038187146187, + 0.9994028806686401, + 0.0009597449321845338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.016523605212569237, + -0.01210037525743246, + -0.0133559765590347 + ], + [ + 0.016125569120049477, + 0.9993486404418945, + -0.03228449076414108, + -0.08552732142506783 + ], + [ + 0.012625950388610363, + 0.03208259493112564, + 0.9994054436683655, + 0.0009831380416643048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.016473662108182907, + -0.011970441788434982, + -0.013226989945046074 + ], + [ + 0.016080200672149658, + 0.999350368976593, + -0.03225398063659668, + -0.08590586081645978 + ], + [ + 0.012494007125496864, + 0.032054804265499115, + 0.9994080066680908, + 0.0010065706655242829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266174, + -0.016423722729086876, + -0.011840508319437504, + -0.013098031887979438 + ], + [ + 0.016034824773669243, + 0.9993520379066467, + -0.03222346678376198, + -0.08628440221233846 + ], + [ + 0.012362065725028515, + 0.032027002424001694, + 0.9994105696678162, + 0.0010299926801004044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.016373785212635994, + -0.011710572987794876, + -0.012969103414237997 + ], + [ + 0.01598944701254368, + 0.9993537664413452, + -0.032192956656217575, + -0.08666296682347813 + ], + [ + 0.012230126187205315, + 0.03199918940663338, + 0.9994130730628967, + 0.0010534034009290292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.01632385142147541, + -0.011580638587474823, + -0.012840225841366846 + ], + [ + 0.015944061800837517, + 0.9993554949760437, + -0.032162461429834366, + -0.08704152543050973 + ], + [ + 0.012098189443349838, + 0.03197137638926506, + 0.9994155764579773, + 0.0010768532287329436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.016273923218250275, + -0.011450696736574173, + -0.012711373917664942 + ], + [ + 0.015898674726486206, + 0.9993571639060974, + -0.032131969928741455, + -0.08742009714308144 + ], + [ + 0.011966248974204063, + 0.031943559646606445, + 0.9994180202484131, + 0.0011002911434013973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.01622399501502514, + -0.011320755816996098, + -0.012582550736370197 + ], + [ + 0.015853283926844597, + 0.9993588924407959, + -0.03210148215293884, + -0.08779866606869957 + ], + [ + 0.011834311299026012, + 0.031915731728076935, + 0.9994205236434937, + 0.0011237189549734529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.01617407612502575, + -0.011190813966095448, + -0.01245377440956347 + ], + [ + 0.01580789126455784, + 0.9993605613708496, + -0.03207100182771683, + -0.08817724059939883 + ], + [ + 0.011702376417815685, + 0.03188789635896683, + 0.9994229674339294, + 0.0011471865303175344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.01612415537238121, + -0.011060870252549648, + -0.012325027852346458 + ], + [ + 0.015762489289045334, + 0.9993622899055481, + -0.03204053267836571, + -0.08855583474476467 + ], + [ + 0.011570443399250507, + 0.03186005726456642, + 0.9994253516197205, + 0.0011706424487372823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.01607424020767212, + -0.0109309246763587, + -0.012196309718003333 + ], + [ + 0.01571708545088768, + 0.9993639588356018, + -0.03201005607843399, + -0.08893442699475268 + ], + [ + 0.01143851038068533, + 0.03183220326900482, + 0.9994277954101562, + 0.0011940871086750945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.016024328768253326, + -0.010800977237522602, + -0.012067640593828767 + ], + [ + 0.015671677887439728, + 0.9993656277656555, + -0.03197959437966347, + -0.0893130169160446 + ], + [ + 0.011306577362120152, + 0.03180435672402382, + 0.9994301795959473, + 0.0012175711875228078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.01597442291676998, + -0.010671027936041355, + -0.011938997086090773 + ], + [ + 0.015626268461346626, + 0.999367356300354, + -0.03194914013147354, + -0.08969162280153031 + ], + [ + 0.011174646206200123, + 0.03177649527788162, + 0.9994325041770935, + 0.0012410444922542599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.015924515202641487, + -0.010541076771914959, + -0.011810403829245638 + ], + [ + 0.015580850653350353, + 0.9993690252304077, + -0.03191868215799332, + -0.09007021926624006 + ], + [ + 0.011042715050280094, + 0.03174862265586853, + 0.9994348883628845, + 0.001264558050773695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.01587461680173874, + -0.010411124676465988, + -0.01168181827081422 + ], + [ + 0.015535433776676655, + 0.9993706941604614, + -0.031888239085674286, + -0.0904488469298664 + ], + [ + 0.01091078668832779, + 0.03172075003385544, + 0.9994372129440308, + 0.0012880076221716455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.01582472026348114, + -0.010281172581017017, + -0.01155328274194042 + ], + [ + 0.015490010380744934, + 0.9993723630905151, + -0.03185780346393585, + -0.09082746481421602 + ], + [ + 0.010778860189020634, + 0.031692877411842346, + 0.999439537525177, + 0.0013114972817458246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.01577482372522354, + -0.010151215828955173, + -0.011424793624104815 + ], + [ + 0.015444581396877766, + 0.9993740320205688, + -0.03182736784219742, + -0.09120608036986953 + ], + [ + 0.010646932758390903, + 0.03166498988866806, + 0.9994418025016785, + 0.0013350286008595297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.01572493650019169, + -0.010021258145570755, + -0.011296334535382284 + ], + [ + 0.015399151481688023, + 0.9993757009506226, + -0.03179694339632988, + -0.09158471222327842 + ], + [ + 0.010515006259083748, + 0.031637098640203476, + 0.9994441270828247, + 0.0013585471550088424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137573, + -0.015675049275159836, + -0.009891296736896038, + -0.011167900429485234 + ], + [ + 0.015353715047240257, + 0.9993773698806763, + -0.03176651895046234, + -0.0919633491985718 + ], + [ + 0.010383079759776592, + 0.0316091924905777, + 0.9994463920593262, + 0.001382055475520726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716797, + -0.015625163912773132, + -0.00976133719086647, + -0.011039498645547294 + ], + [ + 0.015308273024857044, + 0.99937903881073, + -0.0317361019551754, + -0.09234200247162057 + ], + [ + 0.010251156985759735, + 0.03158128634095192, + 0.9994485974311829, + 0.001405550826878665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9998323321342468, + -0.015575285069644451, + -0.009631376713514328, + -0.010911141939180666 + ], + [ + 0.015262830071151257, + 0.9993807077407837, + -0.031705692410469055, + -0.09272065341597321 + ], + [ + 0.010119237005710602, + 0.031553372740745544, + 0.9994508624076843, + 0.001429087209035974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875244, + -0.015525411814451218, + -0.009501411579549313, + -0.010782817320188967 + ], + [ + 0.015217384323477745, + 0.9993823766708374, + -0.031675294041633606, + -0.09309930575692005 + ], + [ + 0.009987314231693745, + 0.03152546286582947, + 0.999453067779541, + 0.0014526117992466588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.01547553762793541, + -0.009371441788971424, + -0.010654520523192743 + ], + [ + 0.015171930193901062, + 0.9993840456008911, + -0.03164489194750786, + -0.09347797439562228 + ], + [ + 0.009855390526354313, + 0.0314975269138813, + 0.9994552135467529, + 0.001476125482072329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.015425669960677624, + -0.00924147479236126, + -0.010526265992264743 + ], + [ + 0.015126475133001804, + 0.9993856549263, + -0.03161449730396271, + -0.09385664076485895 + ], + [ + 0.009723471477627754, + 0.031469590961933136, + 0.9994574189186096, + 0.0014996802373925635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.015375804156064987, + -0.00911150686442852, + -0.010398048419645641 + ], + [ + 0.015081014484167099, + 0.9993873238563538, + -0.031584110110998154, + -0.09423531217181033 + ], + [ + 0.00959155522286892, + 0.03144165500998497, + 0.9994595646858215, + 0.0015232225141593228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.015325943008065224, + -0.008981536142528057, + -0.010269871354103089 + ], + [ + 0.01503554917871952, + 0.9993889331817627, + -0.0315537266433239, + -0.09461398498470812 + ], + [ + 0.00945963803678751, + 0.03141370788216591, + 0.9994617104530334, + 0.001546804930344536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.015276085585355759, + -0.008851563557982445, + -0.01014172832898515 + ], + [ + 0.014990082010626793, + 0.9993906021118164, + -0.03152335062623024, + -0.09499266288519903 + ], + [ + 0.00932772271335125, + 0.03138575330376625, + 0.9994637966156006, + 0.0015703765090913455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025452, + -0.015226231887936592, + -0.008721589110791683, + -0.01001360909506741 + ], + [ + 0.014944609254598618, + 0.9993922114372253, + -0.03149298578500748, + -0.09537135704291913 + ], + [ + 0.00919580738991499, + 0.031357795000076294, + 0.9994659423828125, + 0.0015939360930658413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.015176380053162575, + -0.008591610938310623, + -0.009885519354070331 + ], + [ + 0.014899132773280144, + 0.999393880367279, + -0.03146261349320412, + -0.09575006751398162 + ], + [ + 0.00906389206647873, + 0.03132982179522514, + 0.9994680285453796, + 0.0016174857946946656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.01512653473764658, + -0.008461636491119862, + -0.009757478363328773 + ], + [ + 0.014853653497993946, + 0.999395489692688, + -0.03143225982785225, + -0.09612876439007256 + ], + [ + 0.008931982330977917, + 0.03130185231566429, + 0.999470055103302, + 0.0016410742660353124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.015076691284775734, + -0.008331656455993652, + -0.00962946778825761 + ], + [ + 0.0148081686347723, + 0.9993971586227417, + -0.03140191361308098, + -0.09650747017880364 + ], + [ + 0.008800070732831955, + 0.03127387538552284, + 0.9994721412658691, + 0.0016646519311115334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.015026850625872612, + -0.008201674558222294, + -0.009501499673312678 + ], + [ + 0.014762679114937782, + 0.9993987679481506, + -0.03137156739830971, + -0.0968861809491363 + ], + [ + 0.008668159134685993, + 0.031245891004800797, + 0.9994741678237915, + 0.001688270022017125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.014977015554904938, + -0.00807169172912836, + -0.009373567313361118 + ], + [ + 0.014717187732458115, + 0.9994003772735596, + -0.031341228634119034, + -0.09726489679147508 + ], + [ + 0.008536250330507755, + 0.031217899173498154, + 0.9994761347770691, + 0.0017118761612094596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.014927184209227562, + -0.007941707037389278, + -0.009245658716553175 + ], + [ + 0.014671692624688148, + 0.9994019865989685, + -0.03131089732050896, + -0.0976436214311103 + ], + [ + 0.008404341526329517, + 0.031189901754260063, + 0.9994781613349915, + 0.0017354707013441553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.014877352863550186, + -0.007811722811311483, + -0.009117799270196689 + ], + [ + 0.014626190066337585, + 0.9994035959243774, + -0.03128056228160858, + -0.09802235114275162 + ], + [ + 0.008272436447441578, + 0.031161891296505928, + 0.999480128288269, + 0.0017591072273709534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.014827528968453407, + -0.007681735325604677, + -0.008989949363077286 + ], + [ + 0.014580687507987022, + 0.9994052648544312, + -0.0312502421438694, + -0.09840110479289017 + ], + [ + 0.008140530437231064, + 0.031133878976106644, + 0.9994820952415466, + 0.0017826797727058998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.014777708798646927, + -0.007551745045930147, + -0.008862164183266493 + ], + [ + 0.014535179361701012, + 0.9994068741798401, + -0.031219925731420517, + -0.09877983722290234 + ], + [ + 0.00800862442702055, + 0.03110586106777191, + 0.9994840025901794, + 0.0018063448184407532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.014727888628840446, + -0.0074217552319169044, + -0.008734391822974552 + ], + [ + 0.014489665627479553, + 0.999408483505249, + -0.03118961676955223, + -0.09915859335137212 + ], + [ + 0.007876722142100334, + 0.031077835708856583, + 0.9994859099388123, + 0.0018299455692110948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.014678074046969414, + -0.007291760295629501, + -0.008606663568405178 + ], + [ + 0.014444148167967796, + 0.9994100332260132, + -0.031159311532974243, + -0.09953733933582964 + ], + [ + 0.007744817063212395, + 0.031049802899360657, + 0.9994878172874451, + 0.0018535886708039117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.014628264121711254, + -0.007161768618971109, + -0.008478968300190307 + ], + [ + 0.014398629777133465, + 0.9994116425514221, + -0.031129013746976852, + -0.09991610558337248 + ], + [ + 0.00761291803792119, + 0.031021766364574432, + 0.9994897246360779, + 0.0018772186976409358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.014578456990420818, + -0.007031770423054695, + -0.008351315453523871 + ], + [ + 0.014353104867041111, + 0.999413251876831, + -0.03109871968626976, + -0.10029486945234083 + ], + [ + 0.007481016218662262, + 0.030993718653917313, + 0.9994915723800659, + 0.0019008901823608197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.014528652653098106, + -0.006901774555444717, + -0.008223695711673053 + ], + [ + 0.014307575300335884, + 0.99941486120224, + -0.031068434938788414, + -0.10067363466802501 + ], + [ + 0.007349118590354919, + 0.030965669080615044, + 0.999493420124054, + 0.0019245494106418168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.014478851109743118, + -0.006771773565560579, + -0.008096105345840484 + ], + [ + 0.014262041077017784, + 0.9994164705276489, + -0.031038155779242516, + -0.1010524235821668 + ], + [ + 0.00721721863374114, + 0.03093761019408703, + 0.999495267868042, + 0.001948197367971288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.014429057016968727, + -0.00664177443832159, + -0.007968557996979318 + ], + [ + 0.014216506853699684, + 0.9994180202484131, + -0.031007878482341766, + -0.10143119850231015 + ], + [ + 0.007085323333740234, + 0.030909541994333267, + 0.9994970560073853, + 0.0019718876170875138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.014379264786839485, + -0.00651177391409874, + -0.007841041010013435 + ], + [ + 0.014170965179800987, + 0.999419629573822, + -0.030977610498666763, + -0.1018099863596541 + ], + [ + 0.00695342943072319, + 0.030881471931934357, + 0.9994988441467285, + 0.0019955656292485894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.014329474419355392, + -0.006381768733263016, + -0.007713550657314486 + ], + [ + 0.014125419780611992, + 0.9994211792945862, + -0.03094734437763691, + -0.10218878252486305 + ], + [ + 0.006821533665060997, + 0.0308533925563097, + 0.9995006322860718, + 0.002019232399294067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.014279690571129322, + -0.006251762621104717, + -0.007586111751030429 + ], + [ + 0.014079871587455273, + 0.9994227886199951, + -0.03091708943247795, + -0.10256758050128008 + ], + [ + 0.0066896406933665276, + 0.030825309455394745, + 0.999502420425415, + 0.0020429382985262937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.014229905791580677, + -0.006121753714978695, + -0.007458697807698445 + ], + [ + 0.014034316875040531, + 0.9994243383407593, + -0.030886836349964142, + -0.10294638301039341 + ], + [ + 0.0065577467903494835, + 0.030797217041254044, + 0.9995041489601135, + 0.002066634836992459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661865, + -0.014180131256580353, + -0.0059917462058365345, + -0.007331314543456961 + ], + [ + 0.013988763093948364, + 0.9994259476661682, + -0.03085659258067608, + -0.10332520228175439 + ], + [ + 0.006425857078284025, + 0.030769119039177895, + 0.999505877494812, + 0.0020903194299801624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.014130355790257454, + -0.005861735437065363, + -0.007203979518217771 + ], + [ + 0.013943200930953026, + 0.9994274973869324, + -0.030826354399323463, + -0.10370401858535272 + ], + [ + 0.00629396690055728, + 0.030741015449166298, + 0.9995075464248657, + 0.0021140437729064393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.014080582186579704, + -0.005731724202632904, + -0.007076672040643054 + ], + [ + 0.013897635042667389, + 0.9994290471076965, + -0.030796119943261147, + -0.10408283991107879 + ], + [ + 0.0061620790511369705, + 0.030712904408574104, + 0.9995092749595642, + 0.0021377577169732075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.014030814170837402, + -0.005601710639894009, + -0.006949392766945033 + ], + [ + 0.013852065429091454, + 0.9994306564331055, + -0.030765891075134277, + -0.10446167062328948 + ], + [ + 0.006030191667377949, + 0.030684784054756165, + 0.9995109438896179, + 0.002161460476596236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.013981052674353123, + -0.005471696611493826, + -0.00682216304194603 + ], + [ + 0.013806494884192944, + 0.9994322061538696, + -0.030735671520233154, + -0.10484050760614572 + ], + [ + 0.0058983066119253635, + 0.030656661838293076, + 0.9995125532150269, + 0.0021852036688679434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.013931291177868843, + -0.005341679789125919, + -0.006694960057205486 + ], + [ + 0.013760915026068687, + 0.9994337558746338, + -0.03070545196533203, + -0.10521934588583942 + ], + [ + 0.005766421556472778, + 0.03062852844595909, + 0.9995142221450806, + 0.002208935366125162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.013881535269320011, + -0.005211659707129002, + -0.0065677861905185245 + ], + [ + 0.013715335167944431, + 0.999435305595398, + -0.030675241723656654, + -0.10559819850088663 + ], + [ + 0.005634536035358906, + 0.03060038946568966, + 0.9995158314704895, + 0.0022326565632074446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372192, + -0.013831784017384052, + -0.005081639159470797, + -0.006440658268429121 + ], + [ + 0.013669752515852451, + 0.9994368553161621, + -0.030645040795207024, + -0.10597704682483583 + ], + [ + 0.00550265284255147, + 0.030572248622775078, + 0.9995174407958984, + 0.002256418210863444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440491, + -0.013782033696770668, + -0.004951618146151304, + -0.006313560267512893 + ], + [ + 0.0136241614818573, + 0.9994384050369263, + -0.030614839866757393, + -0.1063559038962031 + ], + [ + 0.00537077197805047, + 0.0305440966039896, + 0.9995189905166626, + 0.0022801688587815194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.013732288032770157, + -0.004821593873202801, + -0.006186492835798897 + ], + [ + 0.013578569516539574, + 0.9994399547576904, + -0.03058464825153351, + -0.10673477344027872 + ], + [ + 0.005238890647888184, + 0.030515938997268677, + 0.9995205402374268, + 0.0023039067008193566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.013682547025382519, + -0.004691570997238159, + -0.006059472731248355 + ], + [ + 0.013532972894608974, + 0.9994415044784546, + -0.03055446222424507, + -0.10711364614383696 + ], + [ + 0.005107013508677483, + 0.030487775802612305, + 0.9995220899581909, + 0.0023276857607004283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.01363280788064003, + -0.004561544395983219, + -0.005932478275867062 + ], + [ + 0.013487370684742928, + 0.9994430541992188, + -0.03052428364753723, + -0.10749252014423263 + ], + [ + 0.004975135438144207, + 0.030459605157375336, + 0.9995236396789551, + 0.002351454499656935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972434998, + -0.013583073392510414, + -0.0044315168634057045, + -0.005805516702797124 + ], + [ + 0.013441765680909157, + 0.9994445443153381, + -0.03049410879611969, + -0.10787140202852723 + ], + [ + 0.004843259230256081, + 0.03043142706155777, + 0.9995251297950745, + 0.002375211530057207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.013533340767025948, + -0.004301486071199179, + -0.005678597535688633 + ], + [ + 0.013396155089139938, + 0.9994460940361023, + -0.030463935807347298, + -0.10825028977352955 + ], + [ + 0.004711382556706667, + 0.030403239652514458, + 0.9995266199111938, + 0.0023990100908198365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385803, + -0.013483613729476929, + -0.00417145574465394, + -0.005551706978108219 + ], + [ + 0.01335054263472557, + 0.9994476437568665, + -0.0304337739944458, + -0.10862918440330477 + ], + [ + 0.004579509142786264, + 0.030375052243471146, + 0.9995281100273132, + 0.0024227968491146255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.013433892279863358, + -0.00404142402112484, + -0.005424846885686888 + ], + [ + 0.013304928317666054, + 0.9994491338729858, + -0.03040361776947975, + -0.10900808311687105 + ], + [ + 0.004447637125849724, + 0.030346855521202087, + 0.9995295405387878, + 0.002446572533633295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.013384170830249786, + -0.003911389037966728, + -0.00529803771439893 + ], + [ + 0.01325930468738079, + 0.99945068359375, + -0.030373465269804, + -0.10938698962860775 + ], + [ + 0.004315763711929321, + 0.030318651348352432, + 0.9995309710502625, + 0.0024703896292738586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.013334454037249088, + -0.0037813540548086166, + -0.005171251621985785 + ], + [ + 0.013213680125772953, + 0.9994521737098694, + -0.030343323945999146, + -0.10976589644896684 + ], + [ + 0.004183894023299217, + 0.03029044345021248, + 0.9995324015617371, + 0.0024941938340850957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.013284740969538689, + -0.0036513160448521376, + -0.005044515219333905 + ], + [ + 0.013168049976229668, + 0.9994537234306335, + -0.03031318448483944, + -0.1101448092547296 + ], + [ + 0.004052024334669113, + 0.03026222623884678, + 0.9995337724685669, + 0.002518039613681608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.013235030695796013, + -0.0035212745424360037, + -0.004917788529324357 + ], + [ + 0.013122417032718658, + 0.9994552135467529, + -0.03028305247426033, + -0.1105237353577524 + ], + [ + 0.003920153249055147, + 0.03023400530219078, + 0.9995351433753967, + 0.0025418222250580542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.013185326009988785, + -0.0033912372309714556, + -0.004791129065997057 + ], + [ + 0.01307678036391735, + 0.9994567036628723, + -0.03025292418897152, + -0.11090265339450855 + ], + [ + 0.0037882893811911345, + 0.030205773189663887, + 0.9995365142822266, + 0.0025656978023008573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.01313562411814928, + -0.003261196194216609, + -0.004664476977653459 + ], + [ + 0.01303113903850317, + 0.9994582533836365, + -0.030222803354263306, + -0.11128159798058257 + ], + [ + 0.0036564248148351908, + 0.030177537351846695, + 0.9995378851890564, + 0.0025895106925718702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445862, + -0.01308592688292265, + -0.0031311502680182457, + -0.004537875881753706 + ], + [ + 0.012985494919121265, + 0.9994597434997559, + -0.03019268624484539, + -0.11166052784942183 + ], + [ + 0.003524557687342167, + 0.030149294063448906, + 0.9995391964912415, + 0.0026133631827566913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.013036231510341167, + -0.0030011041089892387, + -0.004411299457719012 + ], + [ + 0.012939845211803913, + 0.9994612336158752, + -0.030162576586008072, + -0.11203947572902656 + ], + [ + 0.0033926935866475105, + 0.03012104332447052, + 0.9995405077934265, + 0.0026372049907884836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071533, + -0.012986541725695133, + -0.0028710588812828064, + -0.004284755313948233 + ], + [ + 0.012894193641841412, + 0.9994627237319946, + -0.03013247437775135, + -0.11241843230617096 + ], + [ + 0.0032608332112431526, + 0.030092788860201836, + 0.9995418190956116, + 0.0026610358205144628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.012936853803694248, + -0.0027410101611167192, + -0.004158257720329522 + ], + [ + 0.012848534621298313, + 0.999464213848114, + -0.030102374032139778, + -0.11279738454233901 + ], + [ + 0.0031289716716855764, + 0.030064525082707405, + 0.9995430707931519, + 0.0026849078256091317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.012887169606983662, + -0.0026109616737812757, + -0.004031785099794426 + ], + [ + 0.012802873738110065, + 0.9994657039642334, + -0.030072281137108803, + -0.11317634361340162 + ], + [ + 0.0029971131589263678, + 0.030036253854632378, + 0.9995443224906921, + 0.00270876964070994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.012837491929531097, + -0.0024809096939861774, + -0.003905363757724418 + ], + [ + 0.012757210060954094, + 0.9994671940803528, + -0.030042195692658424, + -0.1135553076567136 + ], + [ + 0.0028652544133365154, + 0.03000797890126705, + 0.9995455741882324, + 0.0027326698594231738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.01278781145811081, + -0.002350856317207217, + -0.003778968853914962 + ], + [ + 0.01271153800189495, + 0.9994686841964722, + -0.030012115836143494, + -0.11393427667227499 + ], + [ + 0.0027333965990692377, + 0.02997969463467598, + 0.9995467662811279, + 0.00275656052526071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833801, + -0.012738140299916267, + -0.0022208034060895443, + -0.0036526035646046806 + ], + [ + 0.012665865942835808, + 0.9994701743125916, + -0.02998204343020916, + -0.11431325624802123 + ], + [ + 0.002601542044430971, + 0.029951410368084908, + 0.9995479583740234, + 0.0027804399353440336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.012688469141721725, + -0.002090748865157366, + -0.0035262658712785365 + ], + [ + 0.012620186433196068, + 0.9994716644287109, + -0.029951974749565125, + -0.11469225197188775 + ], + [ + 0.00246968911960721, + 0.02992311120033264, + 0.999549150466919, + 0.0028043079521179698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.012638804502785206, + -0.0019606873393058777, + -0.0033999780376118343 + ], + [ + 0.012574505992233753, + 0.9994731545448303, + -0.029921913519501686, + -0.11507124149213277 + ], + [ + 0.002337831538170576, + 0.029894812032580376, + 0.9995503425598145, + 0.002828216879671463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.01258914452046156, + -0.0018306297715753317, + -0.0032737183283281877 + ], + [ + 0.012528822757303715, + 0.9994746446609497, + -0.029891854152083397, + -0.11545024157256262 + ], + [ + 0.002205980708822608, + 0.029866499826312065, + 0.9995514750480652, + 0.0028521156768513277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.012539485469460487, + -0.0017005691770464182, + -0.0031475052179059473 + ], + [ + 0.012483133003115654, + 0.9994760751724243, + -0.029861805960536003, + -0.11582923033683869 + ], + [ + 0.00207412987947464, + 0.029838187620043755, + 0.9995526075363159, + 0.002876053998737779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.012489832006394863, + -0.0015705085825175047, + -0.0030213168833919148 + ], + [ + 0.012437441386282444, + 0.9994775652885437, + -0.029831761494278908, + -0.11620824033682815 + ], + [ + 0.001942281611263752, + 0.02980986423790455, + 0.9995536804199219, + 0.002899981585865116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874756, + -0.012440181337296963, + -0.0014404463581740856, + -0.002895163804308266 + ], + [ + 0.012391743250191212, + 0.9994789958000183, + -0.02980172075331211, + -0.11658725014665634 + ], + [ + 0.001810434740036726, + 0.029781533405184746, + 0.9995548129081726, + 0.0029238995265948226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525024, + -0.012390530668199062, + -0.0013103809906169772, + -0.00276905250673233 + ], + [ + 0.012346039526164532, + 0.9994804859161377, + -0.02977168560028076, + -0.11696626820356028 + ], + [ + 0.0016785872867330909, + 0.029753196984529495, + 0.9995558857917786, + 0.002947856562609578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.012340889312326908, + -0.0011803125962615013, + -0.0026429735615101316 + ], + [ + 0.012300335802137852, + 0.9994819164276123, + -0.029741661623120308, + -0.11734528974571487 + ], + [ + 0.001546739600598812, + 0.029724856838583946, + 0.9995568990707397, + 0.00297180317794304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9999238848686218, + -0.012291247956454754, + -0.001050242455676198, + -0.0025169217216716028 + ], + [ + 0.012254626490175724, + 0.9994834065437317, + -0.029711641371250153, + -0.117724325172759 + ], + [ + 0.0014148929622024298, + 0.0296965092420578, + 0.9995579719543457, + 0.0029957383076142066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.012241614051163197, + -0.0009201763896271586, + -0.002390898890582899 + ], + [ + 0.012208915315568447, + 0.9994848370552063, + -0.029681628569960594, + -0.11810336589782058 + ], + [ + 0.0012830534251406789, + 0.029668157920241356, + 0.9995589852333069, + 0.0030196634947349584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.01219198014587164, + -0.000790105143096298, + -0.002264922483586492 + ], + [ + 0.012163196690380573, + 0.9994862675666809, + -0.029651617631316185, + -0.11848239850673714 + ], + [ + 0.001151211210526526, + 0.029639793559908867, + 0.9995599985122681, + 0.0030436298615108227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.012142352759838104, + -0.0006600305205211043, + -0.0021389758543629653 + ], + [ + 0.012117477133870125, + 0.9994877576828003, + -0.029621616005897522, + -0.11886146183916714 + ], + [ + 0.001019368413835764, + 0.02961142733693123, + 0.9995609521865845, + 0.003067583342912806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.012092728167772293, + -0.0005299564218148589, + -0.002013075626435764 + ], + [ + 0.012071752920746803, + 0.9994891881942749, + -0.029591618105769157, + -0.1192405061804101 + ], + [ + 0.0008875289931893349, + 0.029583053663372993, + 0.9995619058609009, + 0.003091578923991909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.012043104507029057, + -0.000399880635086447, + -0.0018872028717451638 + ], + [ + 0.01202602218836546, + 0.9994906187057495, + -0.029561622068285942, + -0.1196195591693144 + ], + [ + 0.0007556906784884632, + 0.029554666951298714, + 0.9995628595352173, + 0.0031155649627165314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937561, + -0.011993487365543842, + -0.00026980513939633965, + -0.0017613605765633628 + ], + [ + 0.011980288662016392, + 0.9994920492172241, + -0.02953164279460907, + -0.1199986245311703 + ], + [ + 0.0006238554487936199, + 0.02952628582715988, + 0.9995638132095337, + 0.0031395379294130847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011943873949348927, + -0.00013972652959637344, + -0.0016355655173611316 + ], + [ + 0.011934553273022175, + 0.9994934797286987, + -0.029501663520932198, + -0.12037769295275211 + ], + [ + 0.0004920198116451502, + 0.029497889801859856, + 0.9995647072792053, + 0.0031635513657774137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01189426239579916, + -9.646406397223473e-06, + -0.0015097980687558401 + ], + [ + 0.01188881229609251, + 0.9994949102401733, + -0.029471686109900475, + -0.1207567644340598 + ], + [ + 0.0003601855132728815, + 0.029469488188624382, + 0.999565601348877, + 0.0031875560122491425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.011844655498862267, + 0.00012043706374242902, + -0.0013840591365463688 + ], + [ + 0.011843066662549973, + 0.999496340751648, + -0.029441719874739647, + -0.12113585015096424 + ], + [ + 0.00022835057461634278, + 0.02944107912480831, + 0.9995664954185486, + 0.0032115483212296434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749023, + -0.011795052327215672, + 0.0002505199227016419, + -0.0012583681255594582 + ], + [ + 0.011797317303717136, + 0.9994977712631226, + -0.029411757364869118, + -0.12151492961436884 + ], + [ + 9.651906293584034e-05, + 0.029412666335701942, + 0.9995673298835754, + 0.003235582441527973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.01174545381218195, + 0.00038060269434936345, + -0.0011327039902429702 + ], + [ + 0.011751565150916576, + 0.9994992017745972, + -0.029381804168224335, + -0.12189402145072506 + ], + [ + -3.530949470587075e-05, + 0.029384247958660126, + 0.9995681643486023, + 0.0032596054646697003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011695857159793377, + 0.0005106886965222657, + -0.001007072805041237 + ], + [ + 0.011705807410180569, + 0.999500572681427, + -0.02935185469686985, + -0.12227311826088937 + ], + [ + -0.00016713862714823335, + 0.029355822131037712, + 0.9995689988136292, + 0.0032836166393619705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011646265164017677, + 0.000640776299405843, + -0.0008814871126092254 + ], + [ + 0.011660046875476837, + 0.9995020031929016, + -0.029321910813450813, + -0.12265221805440332 + ], + [ + -0.00029896647902205586, + 0.029327386990189552, + 0.999569833278656, + 0.0033076692341386525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011596676893532276, + 0.0007708650082349777, + -0.00075592650529231 + ], + [ + 0.011614282615482807, + 0.9995034337043762, + -0.029291970655322075, + -0.12303132649557859 + ], + [ + -0.00043079277384094894, + 0.029298944398760796, + 0.9995706081390381, + 0.0033317123290353993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.011547092348337173, + 0.0009009555215016007, + -0.0006303985454103127 + ], + [ + 0.011568514630198479, + 0.999504804611206, + -0.029262039810419083, + -0.12341044728632501 + ], + [ + -0.0005626180209219456, + 0.02927049994468689, + 0.9995713829994202, + 0.0033557426133758103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071411, + -0.01149750966578722, + 0.001031049177981913, + -0.0005049146967063265 + ], + [ + 0.011522739194333553, + 0.9995062351226807, + -0.02923211269080639, + -0.12378956182201288 + ], + [ + -0.0006944435881450772, + 0.02924204431474209, + 0.9995720982551575, + 0.0033798149868721245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.011447933502495289, + 0.00116114248521626, + -0.00037946496850510894 + ], + [ + 0.011476964689791203, + 0.9995076060295105, + -0.02920219674706459, + -0.12416868679474836 + ], + [ + -0.0008262660703621805, + 0.029213588684797287, + 0.9995728731155396, + 0.0034038748510306603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.011398359201848507, + 0.0012912353267893195, + -0.0002540388538124173 + ], + [ + 0.011431182734668255, + 0.9995090365409851, + -0.029172277078032494, + -0.12454782418875515 + ], + [ + -0.0009580852347426116, + 0.029185118153691292, + 0.9995735883712769, + 0.00342792642135251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.011348787695169449, + 0.0014213332906365395, + -0.00012866222167146014 + ], + [ + 0.011385397985577583, + 0.9995104074478149, + -0.029142368584871292, + -0.12492695520612485 + ], + [ + -0.001089907018467784, + 0.029156643897294998, + 0.9995742440223694, + 0.003452018005812393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.99993497133255, + -0.011299221776425838, + 0.001551430905237794, + -3.306627191727819e-06 + ], + [ + 0.011339609511196613, + 0.9995118379592896, + -0.02911246567964554, + -0.1253061024199345 + ], + [ + -0.0012217252515256405, + 0.029128164052963257, + 0.9995749592781067, + 0.00347609856559517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.011249659582972527, + 0.001681528170593083, + 0.00012200860629076418 + ], + [ + 0.011293817311525345, + 0.9995132088661194, + -0.02908257022500038, + -0.12568525252045448 + ], + [ + -0.0013535405742004514, + 0.029099680483341217, + 0.9995756149291992, + 0.003500167927685268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.011200102046132088, + 0.001811628695577383, + 0.0002472802560199753 + ], + [ + 0.011248022317886353, + 0.9995145797729492, + -0.02905268222093582, + -0.12606440190553164 + ], + [ + -0.0014853563625365496, + 0.02907118946313858, + 0.999576210975647, + 0.0035242776811185246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068665, + -0.011150544509291649, + 0.001941730733960867, + 0.00037253016740411015 + ], + [ + 0.011202219873666763, + 0.999515950679779, + -0.02902279794216156, + -0.1264435598883918 + ], + [ + -0.0016171708703041077, + 0.029042690992355347, + 0.9995768666267395, + 0.0035483794064732526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.011100993491709232, + 0.0020718355663120747, + 0.0004977476864441387 + ], + [ + 0.0111564164981246, + 0.9995173811912537, + -0.028992917388677597, + -0.12682273416744866 + ], + [ + -0.0017489854944869876, + 0.029014181345701218, + 0.9995774626731873, + 0.0035724688212243083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.011051444336771965, + 0.002201942726969719, + 0.0006229119034626262 + ], + [ + 0.011110605672001839, + 0.9995187520980835, + -0.02896304242312908, + -0.1272019019202333 + ], + [ + -0.0018807994201779366, + 0.02898566983640194, + 0.999578058719635, + 0.0035965981090511486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.01100190170109272, + 0.0023320468608289957, + 0.0007480531993514963 + ], + [ + 0.011064795777201653, + 0.9995201230049133, + -0.028933178633451462, + -0.1275810801334461 + ], + [ + -0.0020126078743487597, + 0.028957150876522064, + 0.9995786547660828, + 0.0036207170669909053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.010952360928058624, + 0.002462154719978571, + 0.0008731466878637102 + ], + [ + 0.01101897843182087, + 0.9995214939117432, + -0.02890331670641899, + -0.1279602464553452 + ], + [ + -0.00214441679418087, + 0.02892862632870674, + 0.9995791912078857, + 0.003644878139415421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9999371767044067, + -0.010902822948992252, + 0.0025922637432813644, + 0.0009982299716414 + ], + [ + 0.010973156429827213, + 0.999522864818573, + -0.028873462229967117, + -0.12833944745205933 + ], + [ + -0.002276224549859762, + 0.02890009433031082, + 0.9995797276496887, + 0.003668974416727925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.010853239335119724, + 0.0027225082740187645, + 0.0011233769371756352 + ], + [ + 0.010927286930382252, + 0.9995242357254028, + -0.028843583539128304, + -0.12871859185397627 + ], + [ + -0.0024081668816506863, + 0.028871526941657066, + 0.9995802044868469, + 0.003693175408989191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/move_left/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7542713c60002b058ed1d58d5c942a634e00fead --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/move_left/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.0032555165234953165, + -0.005529353395104408, + -0.0059980457862956 + ], + [ + 0.0032319806050509214, + 0.9999856948852539, + -0.004260140471160412, + -0.004678104551232354 + ], + [ + 0.00554314348846674, + 0.0042421817779541016, + 0.9999756217002869, + -0.000744005222171623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005377934314310551, + -0.011360308155417442, + -0.012020185366896407 + ], + [ + 0.00532000046223402, + 0.9999727010726929, + -0.005123721901327372, + -0.006026761301999686 + ], + [ + 0.011387553066015244, + 0.005062880460172892, + 0.9999223351478577, + -0.0023231460186789224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998708367347717, + -0.010394159704446793, + -0.012257437221705914, + -0.01430092565637378 + ], + [ + 0.010184912011027336, + 0.9998034238815308, + -0.01701173558831215, + -0.01795050981824742 + ], + [ + 0.012431849725544453, + 0.0168846994638443, + 0.9997801780700684, + -0.0002482671102861558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014360994100570679, + -0.017254116013646126, + -0.019945418995232264 + ], + [ + 0.013956792652606964, + 0.9996305704116821, + -0.023322783410549164, + -0.024642736798300403 + ], + [ + 0.01758267916738987, + 0.023076094686985016, + 0.9995790719985962, + -0.000648311534448367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002441, + -0.01868932694196701, + -0.02287096530199051, + -0.026209274049708034 + ], + [ + 0.017997808754444122, + 0.9993855357170105, + -0.030076881870627403, + -0.031814859127898595 + ], + [ + 0.023419030010700226, + 0.029652131721377373, + 0.999285876750946, + -0.001216489754453551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999367356300354, + -0.022492164745926857, + -0.02754915878176689, + -0.031522794462210464 + ], + [ + 0.021495414897799492, + 0.9991220831871033, + -0.03595762699842453, + -0.03806948917274944 + ], + [ + 0.028333738446235657, + 0.03534270077943802, + 0.998973548412323, + -0.0017449042373083564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.02244180254638195, + -0.027419451624155045, + -0.03181702808387359 + ], + [ + 0.02145053632557392, + 0.9991242289543152, + -0.035926420241594315, + -0.03803812221674615 + ], + [ + 0.028201691806316376, + 0.03531569615006447, + 0.9989781975746155, + -0.001718919589593383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.022391442209482193, + -0.0272897407412529, + -0.03211126937121776 + ], + [ + 0.021405648440122604, + 0.9991262555122375, + -0.0358952134847641, + -0.038006717674278316 + ], + [ + 0.028069641441106796, + 0.03528868407011032, + 0.9989829063415527, + -0.0016928077827375303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.022341091185808182, + -0.027160027995705605, + -0.032405499473338845 + ], + [ + 0.021360762417316437, + 0.9991283416748047, + -0.03586401417851448, + -0.03797527930103087 + ], + [ + 0.027937596663832664, + 0.035261671990156174, + 0.9989875555038452, + -0.001666620768368961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.022290736436843872, + -0.02703031711280346, + -0.03269972415274656 + ], + [ + 0.021315868943929672, + 0.9991304278373718, + -0.03583282232284546, + -0.03794381451095497 + ], + [ + 0.027805553749203682, + 0.03523464500904083, + 0.9989922046661377, + -0.001640358188668866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.02224038913846016, + -0.026900604367256165, + -0.03299393754717446 + ], + [ + 0.02127097174525261, + 0.999132513999939, + -0.03580164536833763, + -0.037912315861263535 + ], + [ + 0.02767351269721985, + 0.03520762547850609, + 0.9989967942237854, + -0.0016140203952212588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.022190045565366745, + -0.02677088789641857, + -0.03328816037017182 + ], + [ + 0.021226070821285248, + 0.9991346001625061, + -0.03577045723795891, + -0.037880783347280456 + ], + [ + 0.027541467919945717, + 0.03518058732151985, + 0.9990013837814331, + -0.0015875553246587515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.02213970199227333, + -0.02664116583764553, + -0.0335823758579323 + ], + [ + 0.02118116244673729, + 0.9991366863250732, + -0.03573928028345108, + -0.037849213218776254 + ], + [ + 0.027409421280026436, + 0.03515353798866272, + 0.9990059733390808, + -0.0015610145544243594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.022089364007115364, + -0.02651144377887249, + -0.03387659891161709 + ], + [ + 0.021136252209544182, + 0.9991387128829956, + -0.03570811077952385, + -0.037817612949712004 + ], + [ + 0.027277378365397453, + 0.03512648865580559, + 0.9990105628967285, + -0.0015343472414170722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424072, + -0.022039031609892845, + -0.02638172172009945, + -0.034170810530686976 + ], + [ + 0.021091340109705925, + 0.9991407990455627, + -0.03567694500088692, + -0.03778597508716908 + ], + [ + 0.02714533917605877, + 0.03509943559765816, + 0.9990150928497314, + -0.0015076041473933031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954102, + -0.021988702937960625, + -0.02625199593603611, + -0.034465014764641616 + ], + [ + 0.02104642428457737, + 0.9991428256034851, + -0.03564579039812088, + -0.03775431079221071 + ], + [ + 0.027013299986720085, + 0.03507237136363983, + 0.9990196228027344, + -0.001480785834166576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.021938370540738106, + -0.02612226828932762, + -0.034759230239932506 + ], + [ + 0.02100149728357792, + 0.9991449117660522, + -0.035614632070064545, + -0.03772260883129416 + ], + [ + 0.026881258934736252, + 0.03504529595375061, + 0.9990241527557373, + -0.0014538402508390935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967712, + -0.021888047456741333, + -0.025992536917328835, + -0.035053413666815934 + ], + [ + 0.020956572145223618, + 0.9991469383239746, + -0.0355834886431694, + -0.03769088791504066 + ], + [ + 0.02674921788275242, + 0.03501822054386139, + 0.9990286231040955, + -0.001426870669491558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451294, + -0.02183772623538971, + -0.025862807407975197, + -0.03534762691160874 + ], + [ + 0.02091164141893387, + 0.9991490244865417, + -0.03555235639214516, + -0.03765911445894501 + ], + [ + 0.026617182418704033, + 0.034991148859262466, + 0.9990330934524536, + -0.0013997233499067536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.021787410601973534, + -0.02573307417333126, + -0.035641809870882515 + ], + [ + 0.02086670882999897, + 0.9991510510444641, + -0.03552122041583061, + -0.037627322014779724 + ], + [ + 0.02648514322936535, + 0.03496405854821205, + 0.9990375638008118, + -0.0013725516565580497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.021737094968557358, + -0.025603339076042175, + -0.035936004495458626 + ], + [ + 0.020821768790483475, + 0.9991530776023865, + -0.035490091890096664, + -0.03759548817936596 + ], + [ + 0.026353105902671814, + 0.03493696078658104, + 0.9990419745445251, + -0.0013452530719698349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.02168678492307663, + -0.02547360025346279, + -0.03623020790018547 + ], + [ + 0.02077682688832283, + 0.9991551637649536, + -0.03545896336436272, + -0.03756361299478858 + ], + [ + 0.02622106857597828, + 0.03490985557436943, + 0.9990464448928833, + -0.0013178271156731821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.02163648046553135, + -0.025343861430883408, + -0.03652438275734251 + ], + [ + 0.020731879398226738, + 0.999157190322876, + -0.035427846014499664, + -0.037531722499891555 + ], + [ + 0.026089034974575043, + 0.03488274663686752, + 0.9990508556365967, + -0.0012903777824005572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636963, + -0.02158617600798607, + -0.025214120745658875, + -0.036818567442095926 + ], + [ + 0.020686928182840347, + 0.9991592168807983, + -0.03539673238992691, + -0.037499794354623334 + ], + [ + 0.025956999510526657, + 0.03485562652349472, + 0.9990552067756653, + -0.0012628012946631494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.021535879001021385, + -0.025084376335144043, + -0.037112742155852675 + ], + [ + 0.020641973242163658, + 0.9991612434387207, + -0.03536563366651535, + -0.03746782855430782 + ], + [ + 0.02582496777176857, + 0.03482850641012192, + 0.9990595579147339, + -0.0012351491641463658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.021485578268766403, + -0.024954630061984062, + -0.0374069254502467 + ], + [ + 0.020597010850906372, + 0.9991632699966431, + -0.03533452749252319, + -0.037435832504323335 + ], + [ + 0.025692934170365334, + 0.03480137139558792, + 0.9990639090538025, + -0.0012073702866184255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.021435288712382317, + -0.02482488378882408, + -0.03770110183336994 + ], + [ + 0.020552048459649086, + 0.9991652965545654, + -0.03530343621969223, + -0.03740379510361654 + ], + [ + 0.025560900568962097, + 0.03477424383163452, + 0.9990682601928711, + -0.0011795159617329803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106812, + -0.02138499729335308, + -0.024695131927728653, + -0.0379952643955103 + ], + [ + 0.020507080480456352, + 0.9991673231124878, + -0.035272352397441864, + -0.03737174236375418 + ], + [ + 0.02542886883020401, + 0.03474710136651993, + 0.9990725517272949, + -0.0011515864441424576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.021334711462259293, + -0.024565381929278374, + -0.03828943727623718 + ], + [ + 0.02046210691332817, + 0.9991693496704102, + -0.0352412685751915, + -0.0373396407501094 + ], + [ + 0.025296838954091072, + 0.03471995145082474, + 0.9990768432617188, + -0.0011235296985360494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.021284429356455803, + -0.024435628205537796, + -0.038583601407987306 + ], + [ + 0.02041713334619999, + 0.9991713762283325, + -0.03521019220352173, + -0.03730750522697072 + ], + [ + 0.025164809077978134, + 0.03469279408454895, + 0.9990811347961426, + -0.0010953973340665508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.02123415283858776, + -0.02430587448179722, + -0.03887775345670379 + ], + [ + 0.02037215419113636, + 0.9991733431816101, + -0.035179123282432556, + -0.03727535434831012 + ], + [ + 0.025032782927155495, + 0.03466563671827316, + 0.9990854263305664, + -0.001067190097545558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297974, + -0.02118387445807457, + -0.024176113307476044, + -0.03917191569931088 + ], + [ + 0.020327165722846985, + 0.9991753697395325, + -0.035148054361343384, + -0.03724314707904181 + ], + [ + 0.02490074932575226, + 0.034638457000255585, + 0.9990896582603455, + -0.0010388551660809493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595764, + -0.021133603528141975, + -0.024046355858445168, + -0.03946606735523525 + ], + [ + 0.02028217725455761, + 0.9991773962974548, + -0.03511699289083481, + -0.0372109245142615 + ], + [ + 0.02476872317492962, + 0.03461127728223801, + 0.9990938901901245, + -0.0010104455886248919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847107, + -0.02108333446085453, + -0.023916592821478844, + -0.03976021052872037 + ], + [ + 0.020237186923623085, + 0.9991793632507324, + -0.03508593887090683, + -0.03717866055043921 + ], + [ + 0.02463669516146183, + 0.03458409756422043, + 0.9990980625152588, + -0.000981959845056313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.021033067256212234, + -0.02378683164715767, + -0.04005436190875504 + ], + [ + 0.020192187279462814, + 0.9991813898086548, + -0.03505489602684975, + -0.03714636252670857 + ], + [ + 0.02450467273592949, + 0.03455691412091255, + 0.9991022944450378, + -0.000953347808934717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303345, + -0.020982807502150536, + -0.023657064884901047, + -0.040348506452336466 + ], + [ + 0.020147187635302544, + 0.9991833567619324, + -0.035023849457502365, + -0.03711403802224283 + ], + [ + 0.0243726447224617, + 0.03452971205115318, + 0.9991064667701721, + -0.0009246600178074262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999504029750824, + -0.020932547748088837, + -0.023527298122644424, + -0.040642634938202145 + ], + [ + 0.020102180540561676, + 0.9991853833198547, + -0.03499281778931618, + -0.03708167947111768 + ], + [ + 0.02424062043428421, + 0.034502509981393814, + 0.9991105794906616, + -0.000895896958085907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713135, + -0.020882295444607735, + -0.023397531360387802, + -0.040936776178900666 + ], + [ + 0.02005717344582081, + 0.9991873502731323, + -0.03496179357171059, + -0.03704927953186145 + ], + [ + 0.02410859987139702, + 0.034475307911634445, + 0.9991147518157959, + -0.0008670070915625169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.020832043141126633, + -0.023267757147550583, + -0.04123090685006216 + ], + [ + 0.020012158900499344, + 0.9991893768310547, + -0.0349307619035244, + -0.03701685298405681 + ], + [ + 0.023976575583219528, + 0.034448083490133286, + 0.9991188645362854, + -0.0008380414076611228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030029, + -0.02078179642558098, + -0.023137984797358513, + -0.04152504650088783 + ], + [ + 0.01996713876724243, + 0.9991913437843323, + -0.034899741411209106, + -0.03698438494836436 + ], + [ + 0.023844553157687187, + 0.034420862793922424, + 0.9991229176521301, + -0.0008089489471089391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188477, + -0.020731551572680473, + -0.023008208721876144, + -0.041819157878474705 + ], + [ + 0.01992211677134037, + 0.9991933107376099, + -0.03486872836947441, + -0.036951897833418394 + ], + [ + 0.023712530732154846, + 0.03439362719655037, + 0.9991270303726196, + -0.0007798324168121995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.020681310445070267, + -0.022878430783748627, + -0.04211327532563498 + ], + [ + 0.01987709105014801, + 0.9991952776908875, + -0.03483772277832031, + -0.0369193729776967 + ], + [ + 0.023580510169267654, + 0.034366391599178314, + 0.9991310834884644, + -0.0007505890256705767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412476, + -0.02063107118010521, + -0.02274865098297596, + -0.042407405427871386 + ], + [ + 0.019832059741020203, + 0.999197244644165, + -0.034806717187166214, + -0.036886806617720855 + ], + [ + 0.023448491469025612, + 0.03433914855122566, + 0.9991351366043091, + -0.0007212189215412715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524475, + -0.02058083936572075, + -0.022618873044848442, + -0.04270152397079697 + ], + [ + 0.019787024706602097, + 0.9991992115974426, + -0.03477573022246361, + -0.03685420995663898 + ], + [ + 0.02331647463142872, + 0.03431190177798271, + 0.999139130115509, + -0.0006917736496460706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636475, + -0.020530609413981438, + -0.022489085793495178, + -0.04299563095441174 + ], + [ + 0.01974198780953884, + 0.999201238155365, + -0.034744735807180405, + -0.036821583024845714 + ], + [ + 0.023184452205896378, + 0.034284647554159164, + 0.9991431832313538, + -0.0006622523007886172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.020480381324887276, + -0.022359302267432213, + -0.04328972895680362 + ], + [ + 0.01969694159924984, + 0.9992032051086426, + -0.0347137525677681, + -0.0367889256766027 + ], + [ + 0.023052437230944633, + 0.03425738215446472, + 0.9991471171379089, + -0.0006326561666431809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.02043016068637371, + -0.022229516878724098, + -0.043583835839102955 + ], + [ + 0.019651899114251137, + 0.9992051124572754, + -0.034682776778936386, + -0.03675623443133537 + ], + [ + 0.02292042039334774, + 0.03423011675477028, + 0.9991511106491089, + -0.0006029330066621506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786682, + -0.020379941910505295, + -0.022099725902080536, + -0.04387793177777753 + ], + [ + 0.019606847316026688, + 0.999207079410553, + -0.034651800990104675, + -0.036723509031858406 + ], + [ + 0.022788405418395996, + 0.03420283645391464, + 0.9991550445556641, + -0.0005731340796868395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805786, + -0.02032972313463688, + -0.021969936788082123, + -0.044172034683836056 + ], + [ + 0.01956179179251194, + 0.9992090463638306, + -0.03462084010243416, + -0.03669073840517504 + ], + [ + 0.0226563923060894, + 0.034175556153059006, + 0.9991589784622192, + -0.0005432086455268945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999555766582489, + -0.02027951367199421, + -0.021840142086148262, + -0.04446611102966584 + ], + [ + 0.019516734406352043, + 0.9992110133171082, + -0.03458987548947334, + -0.03665795611318933 + ], + [ + 0.022524377331137657, + 0.034148264676332474, + 0.9991629123687744, + -0.0005132589030836243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.02022930048406124, + -0.0217103473842144, + -0.04476021669462136 + ], + [ + 0.01947166956961155, + 0.9992129802703857, + -0.03455892205238342, + -0.036625121056129493 + ], + [ + 0.022392362356185913, + 0.03412096947431564, + 0.9991668462753296, + -0.00048313123563815805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.02017909660935402, + -0.02158055081963539, + -0.04505429263986553 + ], + [ + 0.019426602870225906, + 0.9992148876190186, + -0.0345279723405838, + -0.036592266873834524 + ], + [ + 0.022260352969169617, + 0.03409366309642792, + 0.99917072057724, + -0.00045297938706433675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.020128892734646797, + -0.02145075425505638, + -0.04534837550261529 + ], + [ + 0.019381528720259666, + 0.9992168545722961, + -0.03449702635407448, + -0.03655936736301772 + ], + [ + 0.02212834358215332, + 0.03406635299324989, + 0.9991745948791504, + -0.0004227006953868676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.020078696310520172, + -0.021320953965187073, + -0.045642441584413024 + ], + [ + 0.019336454570293427, + 0.999218761920929, + -0.03446609526872635, + -0.03652644875969847 + ], + [ + 0.021996330469846725, + 0.03403903543949127, + 0.999178409576416, + -0.00039234669253407394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.020028501749038696, + -0.021191153675317764, + -0.045936505220612225 + ], + [ + 0.01929137483239174, + 0.9992207288742065, + -0.03443516790866852, + -0.03649349603412291 + ], + [ + 0.021864324808120728, + 0.03401172161102295, + 0.9991822242736816, + -0.00036191752551378745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567932, + -0.01997831091284752, + -0.021061349660158157, + -0.046230575724438644 + ], + [ + 0.019246291369199753, + 0.9992226362228394, + -0.034404244273900986, + -0.03646050177233987 + ], + [ + 0.02173231542110443, + 0.033984389156103134, + 0.9991860389709473, + -0.000331361173378366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.01992812380194664, + -0.020931540057063103, + -0.046524660546472876 + ], + [ + 0.019201204180717468, + 0.9992246031761169, + -0.03437332063913345, + -0.03642746596967326 + ], + [ + 0.021600304171442986, + 0.03395704925060272, + 0.9991898536682129, + -0.00030067771953037675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.01987793669104576, + -0.020801736041903496, + -0.046818706086178205 + ], + [ + 0.019156109541654587, + 0.9992265105247498, + -0.034342408180236816, + -0.03639441460807453 + ], + [ + 0.021468302235007286, + 0.03392971307039261, + 0.9991936087608337, + -0.0002699711297932918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.01982775516808033, + -0.020671922713518143, + -0.04711276403156783 + ], + [ + 0.019111013039946556, + 0.9992284178733826, + -0.03431149944663048, + -0.036361318013813954 + ], + [ + 0.02133629471063614, + 0.033902358263731, + 0.9991973638534546, + -0.0002391368999471303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.019777577370405197, + -0.02054211124777794, + -0.04740681389354512 + ], + [ + 0.019065912812948227, + 0.9992303848266602, + -0.03428059071302414, + -0.03632819103895371 + ], + [ + 0.02120428904891014, + 0.0338749960064888, + 0.9992011189460754, + -0.0002082270002879093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.019727405160665512, + -0.020412297919392586, + -0.047700872777271475 + ], + [ + 0.01902081072330475, + 0.999232292175293, + -0.03424970060586929, + -0.036295030001067714 + ], + [ + 0.021072285249829292, + 0.033847637474536896, + 0.9992048144340515, + -0.00017719099621549565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.019677232950925827, + -0.020282482728362083, + -0.04799491607712651 + ], + [ + 0.018975701183080673, + 0.9992341995239258, + -0.03421881049871445, + -0.036261834752858935 + ], + [ + 0.020940283313393593, + 0.033820271492004395, + 0.9992085099220276, + -0.00014607950162910167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.01962706632912159, + -0.020152663812041283, + -0.048288949672522404 + ], + [ + 0.01893058605492115, + 0.9992361068725586, + -0.0341879241168499, + -0.03622861278465477 + ], + [ + 0.020808277651667595, + 0.033792894333601, + 0.9992122054100037, + -0.00011489240067356335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.0195769015699625, + -0.020022844895720482, + -0.04858297295556657 + ], + [ + 0.018885469064116478, + 0.9992380142211914, + -0.03415704891085625, + -0.036195364189197825 + ], + [ + 0.020676275715231895, + 0.0337655134499073, + 0.9992159008979797, + -8.363015012071318e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.019526740536093712, + -0.019893022254109383, + -0.04887700697336985 + ], + [ + 0.018840348348021507, + 0.9992399215698242, + -0.034126173704862595, + -0.03616207773762143 + ], + [ + 0.020544273778796196, + 0.033738117665052414, + 0.999219536781311, + -5.224076120151702e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.01947658509016037, + -0.019763201475143433, + -0.049171029299372906 + ], + [ + 0.01879522204399109, + 0.999241828918457, + -0.03409530594944954, + -0.036128745923231835 + ], + [ + 0.020412277430295944, + 0.033710721880197525, + 0.9992231726646423, + -2.0776425876019582e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.019426429644227028, + -0.019633373245596886, + -0.049465058293489725 + ], + [ + 0.018750092014670372, + 0.9992437362670898, + -0.034064438194036484, + -0.03609538369239249 + ], + [ + 0.020280277356505394, + 0.03368331864476204, + 0.9992267489433289, + 1.0815700545330361e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428345, + -0.01937628537416458, + -0.019503546878695488, + -0.04975907905455912 + ], + [ + 0.018704961985349655, + 0.9992456436157227, + -0.03403358906507492, + -0.03606199114641884 + ], + [ + 0.020148279145359993, + 0.033655911684036255, + 0.9992303848266602, + 4.248220374160859e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.019326139241456985, + -0.019373716786503792, + -0.05005308971993594 + ], + [ + 0.01865982636809349, + 0.9992475509643555, + -0.03400273993611336, + -0.03602857184927583 + ], + [ + 0.020016280934214592, + 0.033628497272729874, + 0.9992339611053467, + 7.422447392607895e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862732, + -0.01927599310874939, + -0.019243888556957245, + -0.050347105307683784 + ], + [ + 0.01861467957496643, + 0.9992493987083435, + -0.03397189453244209, + -0.03599510700383446 + ], + [ + 0.01988428458571434, + 0.0336010716855526, + 0.9992374777793884, + 0.00010609385390886769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556702, + -0.01922585628926754, + -0.01911405473947525, + -0.05064111074986069 + ], + [ + 0.01856953464448452, + 0.9992513060569763, + -0.033941056579351425, + -0.035961615609854586 + ], + [ + 0.019752290099859238, + 0.033573638647794724, + 0.999241054058075, + 0.00013803824549540877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.01917572133243084, + -0.018984220921993256, + -0.05093510977175694 + ], + [ + 0.01852438785135746, + 0.9992532134056091, + -0.033910226076841354, + -0.03592809755744794 + ], + [ + 0.019620295614004135, + 0.03354620561003685, + 0.9992445707321167, + 0.00017005735321484793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.01912558451294899, + -0.018854383379220963, + -0.05122911172868318 + ], + [ + 0.018479228019714355, + 0.9992550611495972, + -0.03387940302491188, + -0.035894533876469945 + ], + [ + 0.019488301128149033, + 0.03351876512169838, + 0.9992480874061584, + 0.00020220432066159894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.019075460731983185, + -0.01872454583644867, + -0.05152310535280525 + ], + [ + 0.0184340737760067, + 0.99925696849823, + -0.033848583698272705, + -0.03586093630314372 + ], + [ + 0.01935631036758423, + 0.03349132090806961, + 0.9992515444755554, + 0.00023442594710519247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.01902533881366253, + -0.018594708293676376, + -0.05181709064412316 + ], + [ + 0.018388913944363594, + 0.999258816242218, + -0.03381776437163353, + -0.03582731939493737 + ], + [ + 0.019224319607019424, + 0.03346386179327965, + 0.9992550015449524, + 0.0002667233343021828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.018975213170051575, + -0.018464861437678337, + -0.05211108060842029 + ], + [ + 0.018343742936849594, + 0.9992607235908508, + -0.03378695249557495, + -0.03579365689011298 + ], + [ + 0.019092323258519173, + 0.03343639522790909, + 0.9992584586143494, + 0.00029914805730882745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.018925096839666367, + -0.018335022032260895, + -0.05240506224770675 + ], + [ + 0.018298573791980743, + 0.9992625713348389, + -0.033756155520677567, + -0.03575996782116311 + ], + [ + 0.018960338085889816, + 0.03340892866253853, + 0.9992619156837463, + 0.0003316470215323082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.018874982371926308, + -0.018205175176262856, + -0.052699029801031534 + ], + [ + 0.018253399059176445, + 0.9992644190788269, + -0.03372535482048988, + -0.03572624449668818 + ], + [ + 0.01882834918797016, + 0.03338145092129707, + 0.9992653131484985, + 0.000364222387280549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.018824871629476547, + -0.018075326457619667, + -0.05299300765579714 + ], + [ + 0.018208220601081848, + 0.9992663264274597, + -0.033694565296173096, + -0.03569248697124266 + ], + [ + 0.018696362152695656, + 0.03335396945476532, + 0.9992687106132507, + 0.0003969239749045552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.018774762749671936, + -0.01794547773897648, + -0.053286975132745676 + ], + [ + 0.018163036555051804, + 0.9992681741714478, + -0.033663779497146606, + -0.03565869145251218 + ], + [ + 0.01856437511742115, + 0.03332647681236267, + 0.9992721080780029, + 0.00042970132016456033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.018724659457802773, + -0.017815623432397842, + -0.0535809284317693 + ], + [ + 0.01811785064637661, + 0.9992700219154358, + -0.033633001148700714, + -0.03562486923560812 + ], + [ + 0.018432386219501495, + 0.03329898416996002, + 0.9992754459381104, + 0.00046255332203465024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.018674559891223907, + -0.017685772851109505, + -0.05387489019452777 + ], + [ + 0.018072661012411118, + 0.9992718696594238, + -0.03360222652554512, + -0.03559100907841487 + ], + [ + 0.01830040104687214, + 0.03327148035168648, + 0.9992787837982178, + 0.0004955325272737001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.01862446404993534, + -0.01755591668188572, + -0.05416884518006356 + ], + [ + 0.01802746392786503, + 0.9992737174034119, + -0.033571455627679825, + -0.035557122022755225 + ], + [ + 0.018168417736887932, + 0.033243972808122635, + 0.9992821216583252, + 0.0005285878895653342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231323, + -0.018574370071291924, + -0.017426056787371635, + -0.05446278609522466 + ], + [ + 0.01798226498067379, + 0.9992755651473999, + -0.033540695905685425, + -0.03552319707980216 + ], + [ + 0.018036430701613426, + 0.0332164540886879, + 0.9992853999137878, + 0.0005617173910764471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.018524279817938805, + -0.01729620061814785, + -0.054756735034567544 + ], + [ + 0.017937062308192253, + 0.9992774128913879, + -0.03350994363427162, + -0.035489241631553516 + ], + [ + 0.017904451116919518, + 0.03318893536925316, + 0.9992887377738953, + 0.0005949740736476422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.018474197015166283, + -0.017166344448924065, + -0.05505067730423796 + ], + [ + 0.017891855910420418, + 0.999279260635376, + -0.03347919136285782, + -0.0354552444974623 + ], + [ + 0.01777247153222561, + 0.033161409199237823, + 0.9992919564247131, + 0.000628305692712788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.01842411234974861, + -0.017036478966474533, + -0.05534459986571986 + ], + [ + 0.017846643924713135, + 0.999281108379364, + -0.03344844654202461, + -0.035421227956790806 + ], + [ + 0.01764049008488655, + 0.033133868128061295, + 0.9992952346801758, + 0.0006617133638131819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.01837403140962124, + -0.016906613484025, + -0.05563853405197793 + ], + [ + 0.017801424488425255, + 0.9992828965187073, + -0.033417705446481705, + -0.03538716585691005 + ], + [ + 0.017508508637547493, + 0.03310632333159447, + 0.9992984533309937, + 0.0006952477777844382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.018323954194784164, + -0.01677674800157547, + -0.05593246187562723 + ], + [ + 0.017756205052137375, + 0.9992847442626953, + -0.03338697552680969, + -0.035353077092367735 + ], + [ + 0.017376530915498734, + 0.03307878226041794, + 0.9993016719818115, + 0.0007288568746688226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.018273886293172836, + -0.01664688065648079, + -0.056226371089970716 + ], + [ + 0.017710983753204346, + 0.9992865920066833, + -0.03335624933242798, + -0.03531895414244181 + ], + [ + 0.017244551330804825, + 0.03305122256278992, + 0.9993048906326294, + 0.0007625424900290918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.018223818391561508, + -0.01651701144874096, + -0.05652029256815691 + ], + [ + 0.01766575500369072, + 0.9992884397506714, + -0.03332552686333656, + -0.03528478934145123 + ], + [ + 0.017112577334046364, + 0.0330236591398716, + 0.9993080496788025, + 0.0007963541682778417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.01817375235259533, + -0.01638714037835598, + -0.05681419758180694 + ], + [ + 0.017620524391531944, + 0.9992902278900146, + -0.03329481557011604, + -0.03525060152159575 + ], + [ + 0.016980601474642754, + 0.03299609199166298, + 0.9993112087249756, + 0.0008302408500445936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.999703586101532, + -0.01812369003891945, + -0.016257265582680702, + -0.05710811631512443 + ], + [ + 0.017575286328792572, + 0.9992920756340027, + -0.033264096826314926, + -0.03521636811135703 + ], + [ + 0.016848625615239143, + 0.03296850994229317, + 0.9993143677711487, + 0.0008642550849133643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.018073633313179016, + -0.016127392649650574, + -0.057402001720342676 + ], + [ + 0.01753004640340805, + 0.999293863773346, + -0.0332333967089653, + -0.0351821265740624 + ], + [ + 0.016716651618480682, + 0.032940931618213654, + 0.999317467212677, + 0.0008982924914969498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660095, + -0.018023576587438583, + -0.01599751226603985, + -0.05769591755915636 + ], + [ + 0.017484799027442932, + 0.999295711517334, + -0.033202700316905975, + -0.03514781708061446 + ], + [ + 0.01658467762172222, + 0.032913342118263245, + 0.9993206262588501, + 0.0009325091380267463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.017973529174923897, + -0.015867633745074272, + -0.0579898005016304 + ], + [ + 0.017439553514122963, + 0.9992974996566772, + -0.03317200765013695, + -0.035113499600393505 + ], + [ + 0.01645270548760891, + 0.03288574889302254, + 0.9993236660957336, + 0.0009667483710773507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.01792348176240921, + -0.015737753361463547, + -0.058283693388603224 + ], + [ + 0.017394300550222397, + 0.9992992877960205, + -0.03314131498336792, + -0.03507914023014043 + ], + [ + 0.016320735216140747, + 0.032858140766620636, + 0.999326765537262, + 0.0010011153113463247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.017873438075184822, + -0.015607871115207672, + -0.05857756956164807 + ], + [ + 0.017349043861031532, + 0.9993010759353638, + -0.033110640943050385, + -0.03504474283854582 + ], + [ + 0.016188763082027435, + 0.03283053636550903, + 0.9993298053741455, + 0.0010355571402766777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.01782339997589588, + -0.015477987937629223, + -0.05887144072815215 + ], + [ + 0.01730378530919552, + 0.9993029236793518, + -0.03307996690273285, + -0.03501032984983098 + ], + [ + 0.01605679653584957, + 0.032802924513816833, + 0.999332845211029, + 0.0010700739008300474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.01777336187660694, + -0.01534810196608305, + -0.05916531184477786 + ], + [ + 0.017258519306778908, + 0.9993047118186951, + -0.03304930403828621, + -0.034975867500240336 + ], + [ + 0.015924828127026558, + 0.03277530148625374, + 0.9993358850479126, + 0.0011047180517962413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.0177233275026083, + -0.015218214131891727, + -0.059459182286486965 + ], + [ + 0.017213249579072, + 0.9993064999580383, + -0.03301863744854927, + -0.03494137828959207 + ], + [ + 0.015792859718203545, + 0.032747674733400345, + 0.9993388652801514, + 0.0011394378283961235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591675, + -0.017673300579190254, + -0.015088326297700405, + -0.059753054491084485 + ], + [ + 0.01716797985136509, + 0.9993082880973816, + -0.032987985759973526, + -0.03490684747103617 + ], + [ + 0.01566089689731598, + 0.032720040529966354, + 0.9993418455123901, + 0.0011742837492290836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.01762327365577221, + -0.014958432875573635, + -0.060046913482591696 + ], + [ + 0.017122698947787285, + 0.9993100762367249, + -0.03295733034610748, + -0.0348722820135153 + ], + [ + 0.01552892941981554, + 0.03269239515066147, + 0.9993448257446289, + 0.0012092051424561498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.017573250457644463, + -0.01482854038476944, + -0.060340761779865956 + ], + [ + 0.01707741804420948, + 0.9993118643760681, + -0.032926686108112335, + -0.034837693565186095 + ], + [ + 0.0153969656676054, + 0.032664746046066284, + 0.9993477463722229, + 0.0012442017656022287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.017523229122161865, + -0.014698644168674946, + -0.06063459938290728 + ], + [ + 0.017032131552696228, + 0.9993136525154114, + -0.03289603814482689, + -0.0348030744299729 + ], + [ + 0.01526500005275011, + 0.032637085765600204, + 0.9993506669998169, + 0.00127927351024033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.017473215237259865, + -0.014568750746548176, + -0.06092844491816714 + ], + [ + 0.016986841335892677, + 0.9993154406547546, + -0.03286540508270264, + -0.03476840978231141 + ], + [ + 0.015133040957152843, + 0.032609425485134125, + 0.9993535876274109, + 0.0013144728595149318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.017423205077648163, + -0.014438850805163383, + -0.06122227709070159 + ], + [ + 0.016941551119089127, + 0.9993171691894531, + -0.03283478319644928, + -0.03473372213604809 + ], + [ + 0.015001079067587852, + 0.03258176147937775, + 0.9993565082550049, + 0.0013497463219008061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.01737319864332676, + -0.014308947138488293, + -0.06151612087086653 + ], + [ + 0.01689625345170498, + 0.9993189573287964, + -0.03280416503548622, + -0.03469898880276221 + ], + [ + 0.014869115315377712, + 0.03255408629775047, + 0.9993593692779541, + 0.0013851475262835187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733643, + -0.017323190346360207, + -0.0141790471971035, + -0.06180994831898472 + ], + [ + 0.016850950196385384, + 0.9993207454681396, + -0.03277355059981346, + -0.034664228484502145 + ], + [ + 0.014737159013748169, + 0.0325264073908329, + 0.9993622303009033, + 0.0014206234305302093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.01727319322526455, + -0.014049142599105835, + -0.06210376786761703 + ], + [ + 0.01680564694106579, + 0.9993225336074829, + -0.0327429436147213, + -0.03462943398085848 + ], + [ + 0.014605199918150902, + 0.03249872103333473, + 0.9993650317192078, + 0.0014561749624563808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.017223196104168892, + -0.01391923800110817, + -0.06239759152342086 + ], + [ + 0.016760336235165596, + 0.9993242621421814, + -0.03271232917904854, + -0.034594604945800043 + ], + [ + 0.014473242685198784, + 0.03247101977467537, + 0.999367892742157, + 0.0014918533648718851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957642, + -0.017173198983073235, + -0.01378933060914278, + -0.06269140345469179 + ], + [ + 0.016715021803975105, + 0.9993260502815247, + -0.03268173336982727, + -0.03455974154454894 + ], + [ + 0.01434128638356924, + 0.03244331479072571, + 0.9993706941604614, + 0.0015276069906793505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.017123209312558174, + -0.013659421354532242, + -0.0629852092228674 + ], + [ + 0.016669703647494316, + 0.9993277788162231, + -0.0326511412858963, + -0.03452485122300965 + ], + [ + 0.014209331944584846, + 0.03241560608148575, + 0.9993734359741211, + 0.0015634357946765099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.01707322709262371, + -0.013529511168599129, + -0.06327899949134144 + ], + [ + 0.016624385491013527, + 0.9993295669555664, + -0.03262055665254593, + -0.03448993042890746 + ], + [ + 0.014077378436923027, + 0.03238789737224579, + 0.9993762373924255, + 0.0015993393532869457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.0170232392847538, + -0.013399599120020866, + -0.06357279467439303 + ], + [ + 0.016579054296016693, + 0.9993312954902649, + -0.03258997201919556, + -0.03445497480957578 + ], + [ + 0.013945424929261208, + 0.032360173761844635, + 0.9993789792060852, + 0.0016353705627103355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.016973262652754784, + -0.013269683346152306, + -0.06386660234573993 + ], + [ + 0.016533726826310158, + 0.9993330240249634, + -0.03255940228700638, + -0.03441997026112788 + ], + [ + 0.013813471421599388, + 0.03233245015144348, + 0.9993817210197449, + 0.001671528491624105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.01692328415811062, + -0.013139765709638596, + -0.06416037669756049 + ], + [ + 0.016488390043377876, + 0.9993348121643066, + -0.0325288325548172, + -0.034384949677565356 + ], + [ + 0.013681519776582718, + 0.032304711639881134, + 0.9993844032287598, + 0.0017077096720385875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080505, + -0.0168733112514019, + -0.013009847141802311, + -0.0644541539766175 + ], + [ + 0.016443051397800446, + 0.9993365406990051, + -0.03249826654791832, + -0.03434988733801882 + ], + [ + 0.013549569062888622, + 0.03227696940302849, + 0.9993871450424194, + 0.0017440172915724906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077759, + -0.01682334393262863, + -0.012879930436611176, + -0.06474792514245754 + ], + [ + 0.016397710889577866, + 0.9993382692337036, + -0.032467711716890335, + -0.0343147944160211 + ], + [ + 0.013417622074484825, + 0.032249223440885544, + 0.9993897676467896, + 0.0017804009185238862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.01677337847650051, + -0.012750009074807167, + -0.065041702910946 + ], + [ + 0.016352364793419838, + 0.9993399977684021, + -0.03243716061115265, + -0.03427966327160971 + ], + [ + 0.013285674154758453, + 0.032221466302871704, + 0.9993924498558044, + 0.0018169110734405378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.01672341860830784, + -0.01262008585035801, + -0.06533546880448712 + ], + [ + 0.01630701683461666, + 0.9993417263031006, + -0.03240661695599556, + -0.03424449781166335 + ], + [ + 0.01315372809767723, + 0.032193709164857864, + 0.9993950724601746, + 0.0018534959276366558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.016673460602760315, + -0.012490159831941128, + -0.06562921978050072 + ], + [ + 0.016261659562587738, + 0.9993434548377991, + -0.03237607330083847, + -0.03420930882939235 + ], + [ + 0.013021781109273434, + 0.03216593712568283, + 0.9993976950645447, + 0.0018901570183790005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.01662350445985794, + -0.012360233813524246, + -0.06592298118343039 + ], + [ + 0.016216300427913666, + 0.9993451833724976, + -0.032345544546842575, + -0.03417407434480459 + ], + [ + 0.012889835983514786, + 0.0321381650865078, + 0.9994003176689148, + 0.0019269444944656545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.016573552042245865, + -0.012230303138494492, + -0.0662167325241795 + ], + [ + 0.016170937567949295, + 0.999346911907196, + -0.03231501206755638, + -0.034138809160083904 + ], + [ + 0.012757889926433563, + 0.03211038187146187, + 0.9994028806686401, + 0.0019638072757759604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.016523605212569237, + -0.01210037525743246, + -0.06651046696006005 + ], + [ + 0.016125569120049477, + 0.9993486404418945, + -0.03228449076414108, + -0.0341035206237161 + ], + [ + 0.012625950388610363, + 0.03208259493112564, + 0.9994054436683655, + 0.0020007449738042252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.016473662108182907, + -0.011970441788434982, + -0.06680420897901057 + ], + [ + 0.016080200672149658, + 0.999350368976593, + -0.03225398063659668, + -0.03406818667153933 + ], + [ + 0.012494007125496864, + 0.032054804265499115, + 0.9994080066680908, + 0.002037809343198042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266174, + -0.016423722729086876, + -0.011840508319437504, + -0.06709793995457963 + ], + [ + 0.016034824773669243, + 0.9993520379066467, + -0.03222346678376198, + -0.03403281808351498 + ], + [ + 0.012362065725028515, + 0.032027002424001694, + 0.9994105696678162, + 0.002074949567451699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.016373785212635994, + -0.011710572987794876, + -0.06739165762587446 + ], + [ + 0.01598944701254368, + 0.9993537664413452, + -0.032192956656217575, + -0.03399743005072223 + ], + [ + 0.012230126187205315, + 0.03199918940663338, + 0.9994130730628967, + 0.002112164945735218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.01632385142147541, + -0.011580638587474823, + -0.06768538655565123 + ], + [ + 0.015944061800837517, + 0.9993554949760437, + -0.032162461429834366, + -0.03396199619218271 + ], + [ + 0.012098189443349838, + 0.03197137638926506, + 0.9994155764579773, + 0.0021495064153534723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.016273923218250275, + -0.011450696736574173, + -0.06797910159820045 + ], + [ + 0.015898674726486206, + 0.9993571639060974, + -0.032131969928741455, + -0.0339265391542323 + ], + [ + 0.011966248974204063, + 0.031943559646606445, + 0.9994180202484131, + 0.002186923104661778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.01622399501502514, + -0.011320755816996098, + -0.06827280554748977 + ], + [ + 0.015853283926844597, + 0.9993588924407959, + -0.03210148215293884, + -0.03389103648069638 + ], + [ + 0.011834311299026012, + 0.031915731728076935, + 0.9994205236434937, + 0.002224416057988378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.01617407612502575, + -0.011190813966095448, + -0.06856651373799874 + ], + [ + 0.01580789126455784, + 0.9993605613708496, + -0.03207100182771683, + -0.033855503170934186 + ], + [ + 0.011702376417815685, + 0.03188789635896683, + 0.9994229674339294, + 0.002262035330414585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.01612415537238121, + -0.011060870252549648, + -0.06886020839978087 + ], + [ + 0.015762489289045334, + 0.9993622899055481, + -0.03204053267836571, + -0.03381994625857435 + ], + [ + 0.011570443399250507, + 0.03186005726456642, + 0.9994253516197205, + 0.0022997297475184607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.01607424020767212, + -0.0109309246763587, + -0.06915389521039679 + ], + [ + 0.01571708545088768, + 0.9993639588356018, + -0.03201005607843399, + -0.03378435124849675 + ], + [ + 0.01143851038068533, + 0.03183220326900482, + 0.9994277954101562, + 0.0023374991785641373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.016024328768253326, + -0.010800977237522602, + -0.06944758800018158 + ], + [ + 0.015671677887439728, + 0.9993656277656555, + -0.03197959437966347, + -0.03374871430786085 + ], + [ + 0.011306577362120152, + 0.03180435672402382, + 0.9994301795959473, + 0.002375395544785149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.01597442291676998, + -0.010671027936041355, + -0.06974126680298205 + ], + [ + 0.015626268461346626, + 0.999367356300354, + -0.03194914013147354, + -0.03371305043914328 + ], + [ + 0.011174646206200123, + 0.03177649527788162, + 0.9994325041770935, + 0.0024133672846177257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.015924515202641487, + -0.010541076771914959, + -0.07003495241651725 + ], + [ + 0.015580850653350353, + 0.9993690252304077, + -0.03191868215799332, + -0.033677340639856446 + ], + [ + 0.011042715050280094, + 0.03174862265586853, + 0.9994348883628845, + 0.0024514657252362954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.01587461680173874, + -0.010411124676465988, + -0.07032860973966795 + ], + [ + 0.015535433776676655, + 0.9993706941604614, + -0.031888239085674286, + -0.03364162269013322 + ], + [ + 0.01091078668832779, + 0.03172075003385544, + 0.9994372129440308, + 0.0024895870956790998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.01582472026348114, + -0.010281172581017017, + -0.0706222703571287 + ], + [ + 0.015490010380744934, + 0.9993723630905151, + -0.03185780346393585, + -0.033605855179631064 + ], + [ + 0.010778860189020634, + 0.031692877411842346, + 0.999439537525177, + 0.002527835521901564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.01577482372522354, + -0.010151215828955173, + -0.07091594086843056 + ], + [ + 0.015444581396877766, + 0.9993740320205688, + -0.03182736784219742, + -0.03357004560530186 + ], + [ + 0.010646932758390903, + 0.03166498988866806, + 0.9994418025016785, + 0.0025662118637209534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.01572493650019169, + -0.010021258145570755, + -0.07120959848305794 + ], + [ + 0.015399151481688023, + 0.9993757009506226, + -0.03179694339632988, + -0.033534212861303626 + ], + [ + 0.010515006259083748, + 0.031637098640203476, + 0.9994441270828247, + 0.0026046622285393365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137573, + -0.015675049275159836, + -0.009891296736896038, + -0.07150324107962173 + ], + [ + 0.015353715047240257, + 0.9993773698806763, + -0.03176651895046234, + -0.0334983454385936 + ], + [ + 0.010383079759776592, + 0.0316091924905777, + 0.9994463920593262, + 0.0026431885331666496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716797, + -0.015625163912773132, + -0.00976133719086647, + -0.0717968725423995 + ], + [ + 0.015308273024857044, + 0.99937903881073, + -0.0317361019551754, + -0.033462454560582985 + ], + [ + 0.010251156985759735, + 0.03158128634095192, + 0.9994485974311829, + 0.002681788692063804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9998323321342468, + -0.015575285069644451, + -0.009631376713514328, + -0.0720905130175741 + ], + [ + 0.015262830071151257, + 0.9993807077407837, + -0.031705692410469055, + -0.03342652187437193 + ], + [ + 0.010119237005710602, + 0.031553372740745544, + 0.9994508624076843, + 0.002720516307715903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875244, + -0.015525411814451218, + -0.009501411579549313, + -0.07238413869290297 + ], + [ + 0.015217384323477745, + 0.9993823766708374, + -0.031675294041633606, + -0.03339055099107606 + ], + [ + 0.009987314231693745, + 0.03152546286582947, + 0.999453067779541, + 0.0027593195615687005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.01547553762793541, + -0.009371441788971424, + -0.07267775568549978 + ], + [ + 0.015171930193901062, + 0.9993840456008911, + -0.03164489194750786, + -0.03335455646699442 + ], + [ + 0.009855390526354313, + 0.0314975269138813, + 0.9994552135467529, + 0.0027981974120216764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.015425669960677624, + -0.00924147479236126, + -0.07297137163922379 + ], + [ + 0.015126475133001804, + 0.9993856549263, + -0.03161449730396271, + -0.0333185238487021 + ], + [ + 0.009723471477627754, + 0.031469590961933136, + 0.9994574189186096, + 0.002837203067598794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.015375804156064987, + -0.00911150686442852, + -0.07326498458232092 + ], + [ + 0.015081014484167099, + 0.9993873238563538, + -0.031584110110998154, + -0.03328245284667075 + ], + [ + 0.00959155522286892, + 0.03144165500998497, + 0.9994595646858215, + 0.0028762830867506096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.015325943008065224, + -0.008981536142528057, + -0.07355859824008149 + ], + [ + 0.01503554917871952, + 0.9993889331817627, + -0.0315537266433239, + -0.03324634723723808 + ], + [ + 0.00945963803678751, + 0.03141370788216591, + 0.9994617104530334, + 0.002915489619449716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.015276085585355759, + -0.008851563557982445, + -0.07385220235237018 + ], + [ + 0.014990082010626793, + 0.9993906021118164, + -0.03152335062623024, + -0.03321020346462228 + ], + [ + 0.00932772271335125, + 0.03138575330376625, + 0.9994637966156006, + 0.002954771734431199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025452, + -0.015226231887936592, + -0.008721589110791683, + -0.07414579036563758 + ], + [ + 0.014944609254598618, + 0.9993922114372253, + -0.03149298578500748, + -0.03317403991757327 + ], + [ + 0.00919580738991499, + 0.031357795000076294, + 0.9994659423828125, + 0.0029941286157162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.015176380053162575, + -0.008591610938310623, + -0.07443936786781918 + ], + [ + 0.014899132773280144, + 0.999393880367279, + -0.03146261349320412, + -0.033137849256957425 + ], + [ + 0.00906389206647873, + 0.03132982179522514, + 0.9994680285453796, + 0.0030335616602885796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.01512653473764658, + -0.008461636491119862, + -0.07473295060099419 + ], + [ + 0.014853653497993946, + 0.999395489692688, + -0.03143225982785225, + -0.033101609185977085 + ], + [ + 0.008931982330977917, + 0.03130185231566429, + 0.999470055103302, + 0.003073120336184691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.015076691284775734, + -0.008331656455993652, + -0.07502652370452756 + ], + [ + 0.0148081686347723, + 0.9993971586227417, + -0.03140191361308098, + -0.033065334422256655 + ], + [ + 0.008800070732831955, + 0.03127387538552284, + 0.9994721412658691, + 0.0031127548250506113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.015026850625872612, + -0.008201674558222294, + -0.0753200954200396 + ], + [ + 0.014762679114937782, + 0.9993987679481506, + -0.03137156739830971, + -0.03302902874447187 + ], + [ + 0.008668159134685993, + 0.031245891004800797, + 0.9994741678237915, + 0.00315251623116683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.014977015554904938, + -0.00807169172912836, + -0.07561366693447948 + ], + [ + 0.014717187732458115, + 0.9994003772735596, + -0.031341228634119034, + -0.032992688603855076 + ], + [ + 0.008536250330507755, + 0.031217899173498154, + 0.9994761347770691, + 0.0031923519852707577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.014927184209227562, + -0.007941707037389278, + -0.07590721838456817 + ], + [ + 0.014671692624688148, + 0.9994019865989685, + -0.03131089732050896, + -0.032956317601000665 + ], + [ + 0.008404341526329517, + 0.031189901754260063, + 0.9994781613349915, + 0.0032322627330534006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.014877352863550186, + -0.007811722811311483, + -0.07620077484119761 + ], + [ + 0.014626190066337585, + 0.9994035959243774, + -0.03128056228160858, + -0.03291991175966782 + ], + [ + 0.008272436447441578, + 0.031161891296505928, + 0.999480128288269, + 0.0032723013136270905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.014827528968453407, + -0.007681735325604677, + -0.076494305044662 + ], + [ + 0.014580687507987022, + 0.9994052648544312, + -0.0312502421438694, + -0.032883486467331774 + ], + [ + 0.008140530437231064, + 0.031133878976106644, + 0.9994820952415466, + 0.0033123627926562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.014777708798646927, + -0.007551745045930147, + -0.07678785603727256 + ], + [ + 0.014535179361701012, + 0.9994068741798401, + -0.031219925731420517, + -0.03284700409700182 + ], + [ + 0.00800862442702055, + 0.03110586106777191, + 0.9994840025901794, + 0.0033526033383236894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.014727888628840446, + -0.0074217552319169044, + -0.07708137559014758 + ], + [ + 0.014489665627479553, + 0.999408483505249, + -0.03118961676955223, + -0.0328105056198571 + ], + [ + 0.007876722142100334, + 0.031077835708856583, + 0.9994859099388123, + 0.003392865771825219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.014678074046969414, + -0.007291760295629501, + -0.07737490337373198 + ], + [ + 0.014444148167967796, + 0.9994100332260132, + -0.031159311532974243, + -0.03277396135281569 + ], + [ + 0.007744817063212395, + 0.031049802899360657, + 0.9994878172874451, + 0.0034332571668106143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.014628264121711254, + -0.007161768618971109, + -0.0776684201567991 + ], + [ + 0.014398629777133465, + 0.9994116425514221, + -0.031129013746976852, + -0.032737393833494215 + ], + [ + 0.00761291803792119, + 0.031021766364574432, + 0.9994897246360779, + 0.0034737217425131026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.014578456990420818, + -0.007031770423054695, + -0.07796193517775714 + ], + [ + 0.014353104867041111, + 0.999413251876831, + -0.03109871968626976, + -0.03270078405083223 + ], + [ + 0.007481016218662262, + 0.030993718653917313, + 0.9994915723800659, + 0.0035143141151565637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.014528652653098106, + -0.006901774555444717, + -0.07825544727849287 + ], + [ + 0.014307575300335884, + 0.99941486120224, + -0.031068434938788414, + -0.03266413585052954 + ], + [ + 0.007349118590354919, + 0.030965669080615044, + 0.999493420124054, + 0.0035549807206388547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.014478851109743118, + -0.006771773565560579, + -0.0785489445287251 + ], + [ + 0.014262041077017784, + 0.9994164705276489, + -0.031038155779242516, + -0.0326274715784828 + ], + [ + 0.00721721863374114, + 0.03093761019408703, + 0.999495267868042, + 0.0035957224721626757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.014429057016968727, + -0.00664177443832159, + -0.07884244082347494 + ], + [ + 0.014216506853699684, + 0.9994180202484131, + -0.031007878482341766, + -0.032590758026612605 + ], + [ + 0.007085323333740234, + 0.030909541994333267, + 0.9994970560073853, + 0.0036365924356310435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.014379264786839485, + -0.00651177391409874, + -0.07913593142897389 + ], + [ + 0.014170965179800987, + 0.999419629573822, + -0.030977610498666763, + -0.032554013297647615 + ], + [ + 0.00695342943072319, + 0.030881471931934357, + 0.9994988441467285, + 0.0036775368176182443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.014329474419355392, + -0.006381768733263016, + -0.07942940426530573 + ], + [ + 0.014125419780611992, + 0.9994211792945862, + -0.03094734437763691, + -0.03251724137094605 + ], + [ + 0.006821533665060997, + 0.0308533925563097, + 0.9995006322860718, + 0.003718556312524624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.014279690571129322, + -0.006251762621104717, + -0.07972288440336243 + ], + [ + 0.014079871587455273, + 0.9994227886199951, + -0.03091708943247795, + -0.03248042740691531 + ], + [ + 0.0066896406933665276, + 0.030825309455394745, + 0.999502420425415, + 0.0037597013485450373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.014229905791580677, + -0.006121753714978695, + -0.08001635328917199 + ], + [ + 0.014034316875040531, + 0.9994243383407593, + -0.030886836349964142, + -0.03244358231138173 + ], + [ + 0.0065577467903494835, + 0.030797217041254044, + 0.9995041489601135, + 0.003800923294274752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661865, + -0.014180131256580353, + -0.0059917462058365345, + -0.0803098089377314 + ], + [ + 0.013988763093948364, + 0.9994259476661682, + -0.03085659258067608, + -0.03240671033764484 + ], + [ + 0.006425857078284025, + 0.030769119039177895, + 0.999505877494812, + 0.0038422194539440725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.014130355790257454, + -0.005861735437065363, + -0.08060327235250792 + ], + [ + 0.013943200930953026, + 0.9994274973869324, + -0.030826354399323463, + -0.03236979963686551 + ], + [ + 0.00629396690055728, + 0.030741015449166298, + 0.9995075464248657, + 0.003883641847763912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.014080582186579704, + -0.005731724202632904, + -0.08089671870498726 + ], + [ + 0.013897635042667389, + 0.9994290471076965, + -0.030796119943261147, + -0.03233285426282982 + ], + [ + 0.0061620790511369705, + 0.030712904408574104, + 0.9995092749595642, + 0.0039251399814895505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.014030814170837402, + -0.005601710639894009, + -0.0811901532160313 + ], + [ + 0.013852065429091454, + 0.9994306564331055, + -0.030765891075134277, + -0.032295874210861684 + ], + [ + 0.006030191667377949, + 0.030684784054756165, + 0.9995109438896179, + 0.003966713057262004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.013981052674353123, + -0.005471696611493826, + -0.08148359730605924 + ], + [ + 0.013806494884192944, + 0.9994322061538696, + -0.030735671520233154, + -0.0322588652699687 + ], + [ + 0.0058983066119253635, + 0.030656661838293076, + 0.9995125532150269, + 0.00400841309139544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.013931291177868843, + -0.005341679789125919, + -0.08177702327777152 + ], + [ + 0.013760915026068687, + 0.9994337558746338, + -0.03070545196533203, + -0.03222181750500427 + ], + [ + 0.005766421556472778, + 0.03062852844595909, + 0.9995142221450806, + 0.004050187633672893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.013881535269320011, + -0.005211659707129002, + -0.08207044272866708 + ], + [ + 0.013715335167944431, + 0.999435305595398, + -0.030675241723656654, + -0.032184744636415186 + ], + [ + 0.005634536035358906, + 0.03060038946568966, + 0.9995158314704895, + 0.004092038115759275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372192, + -0.013831784017384052, + -0.005081639159470797, + -0.08236385910502911 + ], + [ + 0.013669752515852451, + 0.9994368553161621, + -0.030645040795207024, + -0.032147627828494646 + ], + [ + 0.00550265284255147, + 0.030572248622775078, + 0.9995174407958984, + 0.004134015551725379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440491, + -0.013782033696770668, + -0.004951618146151304, + -0.08265726942623572 + ], + [ + 0.0136241614818573, + 0.9994384050369263, + -0.030614839866757393, + -0.03211047969540293 + ], + [ + 0.00537077197805047, + 0.0305440966039896, + 0.9995189905166626, + 0.004176067784584466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.013732288032770157, + -0.004821593873202801, + -0.08295066567044315 + ], + [ + 0.013578569516539574, + 0.9994399547576904, + -0.03058464825153351, + -0.03207330451615809 + ], + [ + 0.005238890647888184, + 0.030515938997268677, + 0.9995205402374268, + 0.004218193626023486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.013682547025382519, + -0.004691570997238159, + -0.08324406906557133 + ], + [ + 0.013532972894608974, + 0.9994415044784546, + -0.03055446222424507, + -0.032036092692682185 + ], + [ + 0.005107013508677483, + 0.030487775802612305, + 0.9995220899581909, + 0.004260446738732285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.01363280788064003, + -0.004561544395983219, + -0.08353745316166944 + ], + [ + 0.013487370684742928, + 0.9994430541992188, + -0.03052428364753723, + -0.03199884228517445 + ], + [ + 0.004975135438144207, + 0.030459605157375336, + 0.9995236396789551, + 0.004302775821254967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972434998, + -0.013583073392510414, + -0.0044315168634057045, + -0.08383082992331004 + ], + [ + 0.013441765680909157, + 0.9994445443153381, + -0.03049410879611969, + -0.031961564677592105 + ], + [ + 0.004843259230256081, + 0.03043142706155777, + 0.9995251297950745, + 0.004345179262676249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.013533340767025948, + -0.004301486071199179, + -0.08412420866371885 + ], + [ + 0.013396155089139938, + 0.9994460940361023, + -0.030463935807347298, + -0.03192424847428769 + ], + [ + 0.004711382556706667, + 0.030403239652514458, + 0.9995266199111938, + 0.004387710326269394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385803, + -0.013483613729476929, + -0.00417145574465394, + -0.08441757587871854 + ], + [ + 0.01335054263472557, + 0.9994476437568665, + -0.0304337739944458, + -0.0318868995461005 + ], + [ + 0.004579509142786264, + 0.030375052243471146, + 0.9995281100273132, + 0.004430316102975457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.013433892279863358, + -0.00404142402112484, + -0.08471092876732725 + ], + [ + 0.013304928317666054, + 0.9994491338729858, + -0.03040361776947975, + -0.031849519753337656 + ], + [ + 0.004447637125849724, + 0.030346855521202087, + 0.9995295405387878, + 0.0044729967344412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.013384170830249786, + -0.003911389037966728, + -0.08500429196672896 + ], + [ + 0.01325930468738079, + 0.99945068359375, + -0.030373465269804, + -0.03181210291965487 + ], + [ + 0.004315763711929321, + 0.030318651348352432, + 0.9995309710502625, + 0.004515805058415091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.013334454037249088, + -0.0037813540548086166, + -0.08529763328940236 + ], + [ + 0.013213680125772953, + 0.9994521737098694, + -0.030343323945999146, + -0.03177465155884374 + ], + [ + 0.004183894023299217, + 0.03029044345021248, + 0.9995324015617371, + 0.004558686654874471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.013284740969538689, + -0.0036513160448521376, + -0.08559098868011243 + ], + [ + 0.013168049976229668, + 0.9994537234306335, + -0.03031318448483944, + -0.03173716157425398 + ], + [ + 0.004052024334669113, + 0.03026222623884678, + 0.9995337724685669, + 0.0046016958320053555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.013235030695796013, + -0.0035212745424360037, + -0.08588430864003849 + ], + [ + 0.013122417032718658, + 0.9994552135467529, + -0.03028305247426033, + -0.03169964994596138 + ], + [ + 0.003920153249055147, + 0.03023400530219078, + 0.9995351433753967, + 0.004644728393321194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.013185326009988785, + -0.0033912372309714556, + -0.08617765083636263 + ], + [ + 0.01307678036391735, + 0.9994567036628723, + -0.03025292418897152, + -0.03166209051860925 + ], + [ + 0.0037882893811911345, + 0.030205773189663887, + 0.9995365142822266, + 0.0046879391793831875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.01313562411814928, + -0.003261196194216609, + -0.08647095993722334 + ], + [ + 0.01303113903850317, + 0.9994582533836365, + -0.030222803354263306, + -0.03162451301463665 + ], + [ + 0.0036564248148351908, + 0.030177537351846695, + 0.9995378851890564, + 0.004731173755184097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445862, + -0.01308592688292265, + -0.0031311502680182457, + -0.08676427971478162 + ], + [ + 0.012985494919121265, + 0.9994597434997559, + -0.03019268624484539, + -0.031586885914424725 + ], + [ + 0.003524557687342167, + 0.030149294063448906, + 0.9995391964912415, + 0.004774534252616401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.013036231510341167, + -0.0030011041089892387, + -0.08705758362634412 + ], + [ + 0.012939845211803913, + 0.9994612336158752, + -0.030162576586008072, + -0.031549236926183916 + ], + [ + 0.0033926935866475105, + 0.03012104332447052, + 0.9995405077934265, + 0.00481796992755647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071533, + -0.012986541725695133, + -0.0028710588812828064, + -0.08735087470007304 + ], + [ + 0.012894193641841412, + 0.9994627237319946, + -0.03013247437775135, + -0.03151155703517932 + ], + [ + 0.0032608332112431526, + 0.030092788860201836, + 0.9995418190956116, + 0.00486148071892279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.012936853803694248, + -0.0027410101611167192, + -0.0876441717440083 + ], + [ + 0.012848534621298313, + 0.999464213848114, + -0.030102374032139778, + -0.03147383273996132 + ], + [ + 0.0031289716716855764, + 0.030064525082707405, + 0.9995430707931519, + 0.004905118713463232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.012887169606983662, + -0.0026109616737812757, + -0.08793745333773072 + ], + [ + 0.012802873738110065, + 0.9994657039642334, + -0.030072281137108803, + -0.031436075669982196 + ], + [ + 0.0029971131589263678, + 0.030036253854632378, + 0.9995443224906921, + 0.0049488323426973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.012837491929531097, + -0.0024809096939861774, + -0.08823074106103643 + ], + [ + 0.012757210060954094, + 0.9994671940803528, + -0.030042195692658424, + -0.03139828388271347 + ], + [ + 0.0028652544133365154, + 0.03000797890126705, + 0.9995455741882324, + 0.004992670768669273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.01278781145811081, + -0.002350856317207217, + -0.08852401421557347 + ], + [ + 0.01271153800189495, + 0.9994686841964722, + -0.030012115836143494, + -0.03136045690703841 + ], + [ + 0.0027333965990692377, + 0.02997969463467598, + 0.9995467662811279, + 0.005036585465478847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833801, + -0.012738140299916267, + -0.0022208034060895443, + -0.0888172719795179 + ], + [ + 0.012665865942835808, + 0.9994701743125916, + -0.02998204343020916, + -0.031322601025292815 + ], + [ + 0.002601542044430971, + 0.029951410368084908, + 0.9995479583740234, + 0.005080575304822879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.012688469141721725, + -0.002090748865157366, + -0.08911052155951388 + ], + [ + 0.012620186433196068, + 0.9994716644287109, + -0.029951974749565125, + -0.031284721195697786 + ], + [ + 0.00246968911960721, + 0.02992311120033264, + 0.999549150466919, + 0.005124639023375935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.012638804502785206, + -0.0019606873393058777, + -0.08940377572247424 + ], + [ + 0.012574505992233753, + 0.9994731545448303, + -0.029921913519501686, + -0.031246795610887113 + ], + [ + 0.002337831538170576, + 0.029894812032580376, + 0.9995503425598145, + 0.005168830704092044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.01258914452046156, + -0.0018306297715753317, + -0.08969701250750088 + ], + [ + 0.012528822757303715, + 0.9994746446609497, + -0.029891854152083397, + -0.03120884087451083 + ], + [ + 0.002205980708822608, + 0.029866499826312065, + 0.9995514750480652, + 0.00521309722495503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.012539485469460487, + -0.0017005691770464182, + -0.08999026022563109 + ], + [ + 0.012483133003115654, + 0.9994760751724243, + -0.029861805960536003, + -0.031170839899722254 + ], + [ + 0.00207412987947464, + 0.029838187620043755, + 0.9995526075363159, + 0.005257489913723833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.012489832006394863, + -0.0015705085825175047, + -0.0902834872563202 + ], + [ + 0.012437441386282444, + 0.9994775652885437, + -0.029831761494278908, + -0.031132815431444964 + ], + [ + 0.001942281611263752, + 0.02980986423790455, + 0.9995536804199219, + 0.0053019573269061215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874756, + -0.012440181337296963, + -0.0014404463581740856, + -0.09057670376929901 + ], + [ + 0.012391743250191212, + 0.9994789958000183, + -0.02980172075331211, + -0.031094755888156685 + ], + [ + 0.001810434740036726, + 0.029781533405184746, + 0.9995548129081726, + 0.0053465009590992745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525024, + -0.012390530668199062, + -0.0013103809906169772, + -0.09086992635087705 + ], + [ + 0.012346039526164532, + 0.9994804859161377, + -0.02977168560028076, + -0.031056659480081444 + ], + [ + 0.0016785872867330909, + 0.029753196984529495, + 0.9995558857917786, + 0.005391169875221148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.012340889312326908, + -0.0011803125962615013, + -0.09116313603656 + ], + [ + 0.012300335802137852, + 0.9994819164276123, + -0.029741661623120308, + -0.031018532276792632 + ], + [ + 0.001546739600598812, + 0.029724856838583946, + 0.9995568990707397, + 0.005435914685365171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9999238848686218, + -0.012291247956454754, + -0.001050242455676198, + -0.09145632669793356 + ], + [ + 0.012254626490175724, + 0.9994834065437317, + -0.029711641371250153, + -0.03098037378730011 + ], + [ + 0.0014148929622024298, + 0.0296965092420578, + 0.9995579719543457, + 0.005480733880321164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.012241614051163197, + -0.0009201763896271586, + -0.09174951134565204 + ], + [ + 0.012208915315568447, + 0.9994848370552063, + -0.029681628569960594, + -0.03094218619612034 + ], + [ + 0.0012830534251406789, + 0.029668157920241356, + 0.9995589852333069, + 0.005525628786980249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.01219198014587164, + -0.000790105143096298, + -0.0920426962441262 + ], + [ + 0.012163196690380573, + 0.9994862675666809, + -0.029651617631316185, + -0.03090395037879754 + ], + [ + 0.001151211210526526, + 0.029639793559908867, + 0.9995599985122681, + 0.005570650555263566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.012142352759838104, + -0.0006600305205211043, + -0.09233587056526985 + ], + [ + 0.012117477133870125, + 0.9994877576828003, + -0.029621616005897522, + -0.030865700434597215 + ], + [ + 0.001019368413835764, + 0.02961142733693123, + 0.9995609521865845, + 0.005615745916393699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.012092728167772293, + -0.0005299564218148589, + -0.09262904527024307 + ], + [ + 0.012071752920746803, + 0.9994891881942749, + -0.029591618105769157, + -0.030827396913240643 + ], + [ + 0.0008875289931893349, + 0.029583053663372993, + 0.9995619058609009, + 0.005660968999062746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.012043104507029057, + -0.000399880635086447, + -0.09292220655403968 + ], + [ + 0.01202602218836546, + 0.9994906187057495, + -0.029561622068285942, + -0.030789061993064366 + ], + [ + 0.0007556906784884632, + 0.029554666951298714, + 0.9995628595352173, + 0.005706267849182726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937561, + -0.011993487365543842, + -0.00026980513939633965, + -0.09321535790911933 + ], + [ + 0.011980288662016392, + 0.9994920492172241, + -0.02953164279460907, + -0.03075069972785447 + ], + [ + 0.0006238554487936199, + 0.02952628582715988, + 0.9995638132095337, + 0.005751640423859575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011943873949348927, + -0.00013972652959637344, + -0.09350851045465525 + ], + [ + 0.011934553273022175, + 0.9994934797286987, + -0.029501663520932198, + -0.030712300885437548 + ], + [ + 0.0004920198116451502, + 0.029497889801859856, + 0.9995647072792053, + 0.005797138724721594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01189426239579916, + -9.646406397223473e-06, + -0.09380164976196684 + ], + [ + 0.01188881229609251, + 0.9994949102401733, + -0.029471686109900475, + -0.0306738651236792 + ], + [ + 0.0003601855132728815, + 0.029469488188624382, + 0.999565601348877, + 0.005842714164226811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.011844655498862267, + 0.00012043706374242902, + -0.09409477699520728 + ], + [ + 0.011843066662549973, + 0.999496340751648, + -0.029441719874739647, + -0.03063540369677494 + ], + [ + 0.00022835057461634278, + 0.02944107912480831, + 0.9995664954185486, + 0.005888363196749326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749023, + -0.011795052327215672, + 0.0002505199227016419, + -0.09438790599270003 + ], + [ + 0.011797317303717136, + 0.9994977712631226, + -0.029411757364869118, + -0.03059689619551144 + ], + [ + 9.651906293584034e-05, + 0.029412666335701942, + 0.9995673298835754, + 0.005934139931071296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.01174545381218195, + 0.00038060269434936345, + -0.09468102123642878 + ], + [ + 0.011751565150916576, + 0.9994992017745972, + -0.029381804168224335, + -0.03055836132778221 + ], + [ + -3.530949470587075e-05, + 0.029384247958660126, + 0.9995681643486023, + 0.00597999132123618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011695857159793377, + 0.0005106886965222657, + -0.09497412854715963 + ], + [ + 0.011705807410180569, + 0.999500572681427, + -0.02935185469686985, + -0.03051979696791167 + ], + [ + -0.00016713862714823335, + 0.029355822131037712, + 0.9995689988136292, + 0.0060259167599968156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011646265164017677, + 0.000640776299405843, + -0.09526724073057799 + ], + [ + 0.011660046875476837, + 0.9995020031929016, + -0.029321910813450813, + -0.030481190331062013 + ], + [ + -0.00029896647902205586, + 0.029327386990189552, + 0.999569833278656, + 0.006071969160345426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011596676893532276, + 0.0007708650082349777, + -0.09556033171121045 + ], + [ + 0.011614282615482807, + 0.9995034337043762, + -0.029291970655322075, + -0.030442552502309927 + ], + [ + -0.00043079277384094894, + 0.029298944398760796, + 0.9995706081390381, + 0.006118097737680918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.011547092348337173, + 0.0009009555215016007, + -0.09585341459255135 + ], + [ + 0.011568514630198479, + 0.999504804611206, + -0.029262039810419083, + -0.03040389279020506 + ], + [ + -0.0005626180209219456, + 0.02927049994468689, + 0.9995713829994202, + 0.006164299744029362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071411, + -0.01149750966578722, + 0.001031049177981913, + -0.09614649503063177 + ], + [ + 0.011522739194333553, + 0.9995062351226807, + -0.02923211269080639, + -0.030365181035482983 + ], + [ + -0.0006944435881450772, + 0.02924204431474209, + 0.9995720982551575, + 0.006210629324132584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.011447933502495289, + 0.00116114248521626, + -0.09643956906577206 + ], + [ + 0.011476964689791203, + 0.9995076060295105, + -0.02920219674706459, + -0.030326445964574192 + ], + [ + -0.0008262660703621805, + 0.029213588684797287, + 0.9995728731155396, + 0.006257032603926559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.011398359201848507, + 0.0012912353267893195, + -0.09673262575493198 + ], + [ + 0.011431182734668255, + 0.9995090365409851, + -0.029172277078032494, + -0.03028767746580944 + ], + [ + -0.0009580852347426116, + 0.029185118153691292, + 0.9995735883712769, + 0.006303512351295159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.011348787695169449, + 0.0014213332906365395, + -0.0970256910587283 + ], + [ + 0.011385397985577583, + 0.9995104074478149, + -0.029142368584871292, + -0.03024886852543349 + ], + [ + -0.001089907018467784, + 0.029156643897294998, + 0.9995742440223694, + 0.006350118491046567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.99993497133255, + -0.011299221776425838, + 0.001551430905237794, + -0.09731873106864129 + ], + [ + 0.011339609511196613, + 0.9995118379592896, + -0.02911246567964554, + -0.030210030226184983 + ], + [ + -0.0012217252515256405, + 0.029128164052963257, + 0.9995749592781067, + 0.0063967992099602106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.011249659582972527, + 0.001681528170593083, + -0.09761177062112486 + ], + [ + 0.011293817311525345, + 0.9995132088661194, + -0.02908257022500038, + -0.03017116070074267 + ], + [ + -0.0013535405742004514, + 0.029099680483341217, + 0.9995756149291992, + 0.0064435545654644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.011200102046132088, + 0.001811628695577383, + -0.0979048072481255 + ], + [ + 0.011248022317886353, + 0.9995145797729492, + -0.02905268222093582, + -0.030132250721609244 + ], + [ + -0.0014853563625365496, + 0.02907118946313858, + 0.999576210975647, + 0.006490436104363976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068665, + -0.011150544509291649, + 0.001941730733960867, + -0.09819782439212092 + ], + [ + 0.011202219873666763, + 0.999515950679779, + -0.02902279794216156, + -0.030093309144532333 + ], + [ + -0.0016171708703041077, + 0.029042690992355347, + 0.9995768666267395, + 0.00653739522823043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.011100993491709232, + 0.0020718355663120747, + -0.09849083334539732 + ], + [ + 0.0111564164981246, + 0.9995173811912537, + -0.028992917388677597, + -0.030054338461092078 + ], + [ + -0.0017489854944869876, + 0.029014181345701218, + 0.9995774626731873, + 0.006584427415619304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.011051444336771965, + 0.002201942726969719, + -0.09878385456794753 + ], + [ + 0.011110605672001839, + 0.9995187520980835, + -0.02896304242312908, + -0.030015326853233652 + ], + [ + -0.0018807994201779366, + 0.02898566983640194, + 0.999578058719635, + 0.006631585671936618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.01100190170109272, + 0.0023320468608289957, + -0.09907685225538687 + ], + [ + 0.011064795777201653, + 0.9995201230049133, + -0.028933178633451462, + -0.029976286315144852 + ], + [ + -0.0020126078743487597, + 0.028957150876522064, + 0.9995786547660828, + 0.006678818767913715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.010952360928058624, + 0.002462154719978571, + -0.09936985667614961 + ], + [ + 0.01101897843182087, + 0.9995214939117432, + -0.02890331670641899, + -0.029937193665076748 + ], + [ + -0.00214441679418087, + 0.02892862632870674, + 0.9995791912078857, + 0.006726179905157832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9999371767044067, + -0.010902822948992252, + 0.0025922637432813644, + -0.09966282438714896 + ], + [ + 0.010973156429827213, + 0.999522864818573, + -0.028873462229967117, + -0.02989809573803362 + ], + [ + -0.002276224549859762, + 0.02890009433031082, + 0.9995797276496887, + 0.006773561819857883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.010853239335119724, + 0.0027225082740187645, + -0.09995568850863493 + ], + [ + 0.010927286930382252, + 0.9995242357254028, + -0.028843583539128304, + -0.02985889697447419 + ], + [ + -0.0024081668816506863, + 0.028871526941657066, + 0.9995802044868469, + 0.0068211447913199665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/orbit_left/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb885603aba57871fb364fd298c95a50ab484a3 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/orbit_left/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999848932893783, + -0.0032555165234953165, + -0.004433977894086987, + -0.006663335273152965 + ], + [ + 0.0032366452013720157, + 0.9999856948852539, + -0.0042565976208563195, + -0.004680859617508217 + ], + [ + 0.004447772157775223, + 0.0042421817779541016, + 0.9999810936999967, + -0.0006051224343690793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999943512284021, + -0.005377934314310551, + -0.00916966580961736, + -0.013352349344290564 + ], + [ + 0.005331212684395429, + 0.9999727010726929, + -0.0051120546118027, + -0.006035292716087295 + ], + [ + 0.009196907782048167, + 0.005062880460172892, + 0.9999448832708853, + -0.0020531630308858705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999057180630228, + -0.010394159704446794, + -0.008971616621759847, + -0.01629945528266522 + ], + [ + 0.010240760623615154, + 0.999803423881531, + -0.016978174290801368, + -0.017978089970970498 + ], + [ + 0.009146326104446295, + 0.016884699463844303, + 0.9998156330385156, + 0.0001545647176389912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998139949186929, + -0.014360994100570679, + -0.012873488888738197, + -0.022612648135136863 + ], + [ + 0.014058848987530483, + 0.9996305704116821, + -0.02326140692883954, + -0.024693135276210604 + ], + [ + 0.013202789020733014, + 0.023076094686985016, + 0.9996465165979184, + -0.0001250083273959283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996739650268016, + -0.018689326941967014, + -0.01739606463692456, + -0.02954670209667255 + ], + [ + 0.01816226830840902, + 0.9993855357170107, + -0.029977857710560017, + -0.03189609845212164 + ], + [ + 0.017945642715859172, + 0.02965213172137738, + 0.9993991536658734, + -0.0005819614580567784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995268339703052, + -0.02249216474592686, + -0.02098039946331024, + -0.03553092711634032 + ], + [ + 0.02173127575308601, + 0.9991220831871035, + -0.035815575594002474, + -0.038185952127479016 + ], + [ + 0.021767550414817382, + 0.035342700779438026, + 0.9991381910981015, + -0.0010033328330319147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995529302020991, + -0.02244180254638195, + -0.019755771020867965, + -0.03649307530411104 + ], + [ + 0.02172537837088078, + 0.9991242289543152, + -0.035760888057659715, + -0.038173755762612345 + ], + [ + 0.020541008260970352, + 0.03531569615006447, + 0.999165072262731, + -0.0008531340828048771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995775428159407, + -0.022391442209482193, + -0.018531107011773042, + -0.03745520042676701 + ], + [ + 0.021719377996205283, + 0.9991262555122375, + -0.03570625653463084, + -0.0381614532185371 + ], + [ + 0.0193144292458308, + 0.03528868407011032, + 0.9991905247529901, + -0.0007026312660886019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996006121779276, + -0.022341091185808182, + -0.017306411667108636, + -0.03841728327772724 + ], + [ + 0.021713285993621927, + 0.9991283416748047, + -0.035651688535115814, + -0.03814904830877074 + ], + [ + 0.0180878254503532, + 0.035261671990156174, + 0.9992144294041079, + -0.0005518765102510122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996221978896983, + -0.022290736436843872, + -0.016081690035840625, + -0.03937932990127312 + ], + [ + 0.021707093190608342, + 0.9991304278373718, + -0.03559718429412139, + -0.038136548392276606 + ], + [ + 0.016861194481027908, + 0.03523464500904083, + 0.9992368457596443, + -0.0004008693843732488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999642240278352, + -0.02224038913846016, + -0.014856940891972866, + -0.04034133399440274 + ], + [ + 0.0217008035426325, + 0.999132513999939, + -0.03554275138015648, + -0.03812394605351633 + ], + [ + 0.015634538844765712, + 0.03520762547850609, + 0.9992577141906461, + -0.00024961033722861346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996607988835513, + -0.022190045565366745, + -0.013632163566437643, + -0.04130331662315556 + ], + [ + 0.021694416872177626, + 0.9991346001625061, + -0.035488363869006966, + -0.0381112412421471 + ], + [ + 0.014407854155264254, + 0.03518058732151985, + 0.9992770941991237, + -9.804718812341136e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996778736371716, + -0.02213970199227333, + -0.012407357977935804, + -0.04226526101867965 + ], + [ + 0.021687929852393203, + 0.9991366863250732, + -0.03543404431463929, + -0.03809843020497811 + ], + [ + 0.013181144064012593, + 0.03515353798866272, + 0.9992949857690842, + 5.376847683505608e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996934645793041, + -0.022089364007115364, + -0.011182531495055026, + -0.043227182090899596 + ], + [ + 0.021681348167056518, + 0.9991387128829956, + -0.035379789069002146, + -0.03808552045044754 + ], + [ + 0.011954415947293929, + 0.03512648865580559, + 0.9993113889519556, + 0.0002058874524753407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997075120882328, + -0.02203903160989285, + -0.00995768687820073, + -0.0441890602451536 + ], + [ + 0.021674671896298434, + 0.999140799045563, + -0.035325594551364754, + -0.03807250451714344 + ], + [ + 0.010727672573183352, + 0.035099435597658164, + 0.9993262441373706, + 0.0003582588421471944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997200756744913, + -0.021988702937960628, + -0.00873282133502177, + -0.04515090003734974 + ], + [ + 0.021667899437636307, + 0.9991428256034853, + -0.03527146838783007, + -0.03805939356120071 + ], + [ + 0.009500911156973477, + 0.03507237136363984, + 0.9993396108472223, + 0.0005108822266903948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997311553398638, + -0.021938370540738106, + -0.007507938509204986, + -0.04611272009686063 + ], + [ + 0.021661023218408768, + 0.9991449117660522, + -0.03521739596804052, + -0.038046176226146984 + ], + [ + 0.008274131625324596, + 0.03504529595375061, + 0.9993514890252988, + 0.0006638096780445793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997406914299115, + -0.021888047456741336, + -0.006283039494920957, + -0.04707447641541878 + ], + [ + 0.021654056747656615, + 0.9991469383239748, + -0.03516339583239645, + -0.03803287140248797 + ], + [ + 0.007047338804800073, + 0.035018220543861396, + 0.9993618190897502, + 0.0008169377526019528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997487436279746, + -0.021837726235389713, + -0.005058130615752172, + -0.04803623150661518 + ], + [ + 0.02164699266530962, + 0.999149024486542, + -0.03510946454186118, + -0.03801944541164453 + ], + [ + 0.005820539026561803, + 0.03499114885926247, + 0.99937066073531, + 0.0009704202559928004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999755252213342, + -0.021787410601973534, + -0.0038332093719196597, + -0.048997924459721245 + ], + [ + 0.02163983452421934, + 0.9991510510444641, + -0.03505558727207952, + -0.038005931806050525 + ], + [ + 0.004593724768279858, + 0.03496405854821205, + 0.9993780137614068, + 0.001124103936379487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997603363868103, + -0.021737094968557358, + -0.002608276860956777, + -0.04995959877426037 + ], + [ + 0.02163257710086801, + 0.9991530776023865, + -0.03500177546792244, + -0.03799230813270208 + ], + [ + 0.003366904776718858, + 0.03493696078658104, + 0.9993838186826748, + 0.001278091062231347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997638769084682, + -0.02168678492307663, + -0.0013833356788659212, + -0.05092124993450703 + ], + [ + 0.021625225945268712, + 0.9991551637649536, + -0.03494802170708135, + -0.037978574480340525 + ], + [ + 0.002140076302017198, + 0.03490985557436943, + 0.9993881946289924, + 0.0014323824859452856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997658738570363, + -0.02163648046553135, + -0.00015839152716298885, + -0.05188284050453845 + ], + [ + 0.02161777773339401, + 0.999157190322876, + -0.03489433739848476, + -0.03796475686380667 + ], + [ + 0.0009132476646008886, + 0.03488274663686752, + 0.9993910225096199, + 0.0015868737904458246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997664463513147, + -0.021586176007986072, + 0.001066558612624803, + -0.05284441063551512 + ], + [ + 0.021610234287172073, + 0.9991592168807986, + -0.03484071519902581, + -0.037950832940901846 + ], + [ + -0.00031358473694854185, + 0.03485562652349473, + 0.99939230218857, + 0.001741668809420166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9997654751612931, + -0.021535879001021385, + 0.002291511752646632, + -0.05380593865982439 + ], + [ + 0.021602596043977868, + 0.9991612434387207, + -0.034787166428513205, + -0.03793680274095031 + ], + [ + -0.0015404149638043475, + 0.03482850641012192, + 0.9993920933962485, + 0.0018967161290165636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9997629603321139, + -0.021485578268766403, + 0.00351646405354798, + -0.05476744301558682 + ], + [ + 0.02159485881182388, + 0.9991632699966431, + -0.034733668997237024, + -0.0379226735210602 + ], + [ + -0.002767246812889987, + 0.03480137139558792, + 0.9993903959840837, + 0.0020520669425851796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997590210767848, + -0.021435288712382317, + 0.004741415201375198, + -0.05572891023728442 + ], + [ + 0.021587030794439355, + 0.9991652965545654, + -0.03468024518779486, + -0.03790843438185642 + ], + [ + -0.003994076633121203, + 0.03477424383163452, + 0.9993872100014866, + 0.002207669920766237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997535380683632, + -0.021384997293353084, + 0.005966365540182202, + -0.056690331293665276 + ], + [ + 0.02157910634639559, + 0.999167323112488, + -0.03462688785860183, + -0.03789411120756525 + ], + [ + -0.0052208989457961305, + 0.034747101366519935, + 0.9993824759315476, + 0.002363524536311193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997465115366952, + -0.021334711462259293, + 0.007191305645460949, + -0.057651730233888865 + ], + [ + 0.021571085375699222, + 0.9991693496704102, + -0.03457358971578664, + -0.037879670424802156 + ], + [ + -0.006447713659360686, + 0.03471995145082474, + 0.9993762533657867, + 0.002519683041760914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999738060463344, + -0.021284429356455803, + 0.008416243041947201, + -0.05861309022495418 + ], + [ + 0.021562973832464437, + 0.9991713762283325, + -0.03452035817580559, + -0.03786512712998064 + ], + [ + -0.0076745208465931304, + 0.03469279408454895, + 0.9993685422561861, + 0.0026760938613819996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997280658255626, + -0.02123415283858776, + 0.009641168373290841, + -0.05957440561079346 + ], + [ + 0.02155476627646109, + 0.9991733431816101, + -0.03446719356250461, + -0.037850499765148135 + ], + [ + -0.008901314995307266, + 0.03466563671827316, + 0.9993593427384178, + 0.002832756171622022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997165273810285, + -0.021183874458074573, + 0.010866087108411896, + -0.06053569851551517 + ], + [ + 0.021546458868880413, + 0.9991753697395327, + -0.03441408871267232, + -0.037835747174058104 + ], + [ + -0.010128103397026814, + 0.03463845700025559, + 0.9993485948763511, + 0.00298972275366535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997035646619217, + -0.02113360352814198, + 0.012090990409057409, + -0.0614969507032543 + ], + [ + 0.021538061307623344, + 0.9991773962974551, + -0.03436105090053701, + -0.03782091067252306 + ], + [ + -0.011354871328822293, + 0.034611277282238014, + 0.9993363587701887, + 0.0031469405015800782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999689058216593, + -0.021083334460854534, + 0.013315881558139453, + -0.062458161660171894 + ], + [ + 0.021529571876428115, + 0.9991793632507326, + -0.03430808032887279, + -0.037805964118116035 + ], + [ + -0.012581624089983631, + 0.034584097564220435, + 0.9993225745501206, + 0.0033044108421267345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9996730083382794, + -0.021033067256212234, + 0.014540751132843874, + -0.0634193479912202 + ], + [ + 0.021520983418484074, + 0.9991813898086548, + -0.03425518114509803, + -0.0377909146947473 + ], + [ + -0.013808356819704546, + 0.03455691412091255, + 0.9993073616426399, + 0.0034621843015272867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9996555338845403, + -0.02098280750215054, + 0.015765609300907642, + -0.06438049734891668 + ], + [ + 0.021512304811201265, + 0.9991833567619326, + -0.034202338255503, + -0.037775770114119395 + ], + [ + -0.01503507439296001, + 0.03452971205115319, + 0.9992906005215615, + 0.0036202100121001737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9996365159675017, + -0.02093254774808884, + 0.016990444062549945, + -0.06534159772690551 + ], + [ + 0.02150352947381852, + 0.999185383319855, + -0.03414957070726128, + -0.037760522723782906 + ], + [ + -0.01626176551882089, + 0.03450250998139382, + 0.9992722915759327, + 0.0037784872440955325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9996160141734138, + -0.020882295444607738, + 0.01821525592115874, + -0.06630267932402129 + ], + [ + 0.02149466471175618, + 0.9991873502731325, + -0.034096870902119845, + -0.037745165321560636 + ], + [ + -0.017488433173851205, + 0.03447530791163445, + 0.9992525539566174, + 0.003937068148635343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995939686613456, + -0.020832043141126633, + 0.01944004799376329, + -0.06726371722974854 + ], + [ + 0.021485702590914847, + 0.9991893768310547, + -0.03404422440288957, + -0.03772971241427837 + ], + [ + -0.018715078118092858, + 0.034448083490133286, + 0.999231268275772, + 0.004095901284622526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999570439400332, + -0.020781796425580982, + 0.020664811608957584, + -0.06822473250871555 + ], + [ + 0.021476645886415877, + 0.9991913437843325, + -0.03399164989507094, + -0.0377141492602899 + ], + [ + -0.019941692783957264, + 0.03442086279392243, + 0.9992084348032224, + 0.0042550374447323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995454261775968, + -0.020731551572680477, + 0.021889550568171445, + -0.06918568787615248 + ], + [ + 0.021467498312052382, + 0.9991933107376101, + -0.03393914363941936, + -0.037698498341590045 + ], + [ + -0.021168282400067847, + 0.034393627196550376, + 0.999184172590401, + 0.004414374640420926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995188695591057, + -0.020681310445070267, + 0.02311425848783786, + -0.07014661602088845 + ], + [ + 0.02145825815409474, + 0.9991952776908875, + -0.03388670585918907, + -0.037682740944144276 + ], + [ + -0.022394838030228174, + 0.034366391599178314, + 0.9991583626644355, + 0.004574014922479574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9994908291226272, + -0.020631071180105213, + 0.02433893619740124, + -0.07110752511195628 + ], + [ + 0.02144892334857992, + 0.9991972446441653, + -0.03383432934322047, + -0.03766687320133505 + ], + [ + -0.0236213604968392, + 0.03433914855122567, + 0.9991310646145294, + 0.004733958479250585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9994613050800925, + -0.020580839365720752, + 0.02556357819458255, + -0.07206839095754139 + ], + [ + 0.021439496776854725, + 0.9991992115974428, + -0.0337820327570809, + -0.03765090647647697 + ], + [ + -0.0248478451398932, + 0.03431190177798272, + 0.9991022189491516, + 0.004894153387894818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994302969276362, + -0.02053060941398144, + 0.02678819386099256, + -0.07302921348674013 + ], + [ + 0.02142997919894102, + 0.9992012381553652, + -0.03372979010482722, + -0.037634840688902986 + ], + [ + -0.026074303290785313, + 0.03428464755415917, + 0.9990719444212567, + 0.005054601516001679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9993977458052151, + -0.020480381324887276, + 0.02801276539011279, + -0.07398999353719046 + ], + [ + 0.021420364210708094, + 0.9992032051086426, + -0.03367762050354954, + -0.03761867558038399 + ], + [ + -0.027300711327461324, + 0.03425738215446472, + 0.9990400631147359, + 0.005215300037273754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993637110180703, + -0.02043016068637371, + 0.029237299453873645, + -0.07495075067693213 + ], + [ + 0.021410664803102657, + 0.9992051124572754, + -0.03362551972213091, + -0.03760240803881826 + ], + [ + -0.028527085574243317, + 0.03423011675477028, + 0.9990067532159107, + 0.00537630261548382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9993281328893, + -0.0203799419105053, + 0.03046179485876022, + -0.07591146315495056 + ], + [ + 0.021400867711267695, + 0.9992070794105532, + -0.033573481123300615, + -0.03758603735076098 + ], + [ + -0.02975341445288034, + 0.03420283645391465, + 0.9989718959064563, + 0.005537557086382038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992910713788763, + -0.020329723134636882, + 0.03168624538527323, + -0.07687215075388948 + ], + [ + 0.021390979439698733, + 0.9992090463638308, + -0.03352151944859134, + -0.03756955271069738 + ], + [ + -0.030979699177460025, + 0.03417555615305901, + 0.9989355507703525, + 0.005699114577345227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9992525261367741, + -0.020279513671994213, + 0.032910656692420874, + -0.07783277989382145 + ], + [ + 0.021381001001921793, + 0.9992110133171084, + -0.0334696161379418, + -0.03755298760858769 + ], + [ + -0.03220594167974827, + 0.03414826467633248, + 0.9988977176607862, + 0.005860873009534344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9992124975105128, + -0.02022930048406124, + 0.03413502141930638, + -0.07879340649234116 + ], + [ + 0.021370927762818247, + 0.9992129802703857, + -0.03341778651866778, + -0.03753630085832414 + ], + [ + -0.033432138311465145, + 0.03412096947431564, + 0.9988583967287866, + 0.006022985940256001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9991709259420434, + -0.02017909660935402, + 0.035359336251658, + -0.07975396943717772 + ], + [ + 0.02136076503929882, + 0.9992148876190186, + -0.03336602298694674, + -0.0375195262275267 + ], + [ + -0.034658278312315695, + 0.03409366309642792, + 0.998817528839767, + 0.006185298990659881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9991278711069037, + -0.020128892734646797, + 0.03658360081197613, + -0.0807145073592344 + ], + [ + 0.021350507389770047, + 0.9992168545722961, + -0.03331432600259735, + -0.037502637313985655 + ], + [ + -0.035884368736709, + 0.03406635299324989, + 0.9987751732607153, + 0.006347915433275582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9990832733448906, + -0.020078696310520172, + 0.037807813514920595, + -0.08167499439253224 + ], + [ + 0.0213401630506588, + 0.999218761920929, + -0.03326270643518412, + -0.037485660693856226 + ], + [ + -0.037110407991804276, + 0.03403903543949127, + 0.9987312703307515, + 0.006510783410970069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9990371924388218, + -0.020028501749038696, + 0.0390319722541141, + -0.08263544695966754 + ], + [ + 0.021329725944891208, + 0.9992207288742065, + -0.03321115359239824, + -0.03746858105189453 + ], + [ + -0.03833638652665994, + 0.03401172161102295, + 0.9986858802806293, + 0.006673902817589433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989896282252047, + -0.019978310912847522, + 0.040256078967509726, + -0.08359587434412366 + ], + [ + 0.021319198069865125, + 0.9992226362228396, + -0.03315966750714249, + -0.037451391033917245 + ], + [ + -0.03956231370978203, + 0.03398438915610314, + 0.9986390025138928, + 0.006837326075114038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9989405806425992, + -0.01992812380194664, + 0.04148013373311292, + -0.08455628397975112 + ], + [ + 0.021308579331228497, + 0.9992246031761169, + -0.03310824460213833, + -0.03743409059914159 + ], + [ + -0.040788185893669095, + 0.03395704925060272, + 0.9985906372009038, + 0.007001053037015799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9988899909669704, + -0.01987793669104576, + 0.042704119831949196, + -0.0855166200587631 + ], + [ + 0.021297866846845474, + 0.9992265105247498, + -0.0330568964085243, + -0.03741670567092666 + ], + [ + -0.042013986352640906, + 0.03392971307039261, + 0.9985407256292113, + 0.0071649788175720845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9988379178182748, + -0.01982775516808033, + 0.04392805400911901, + -0.0864769363642775 + ], + [ + 0.021287065875522447, + 0.9992284178733826, + -0.033005615281347184, + -0.03739920672188097 + ], + [ + -0.0432397318251184, + 0.033902358263731, + 0.998489326430365, + 0.007329208962534993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9987843619735416, + -0.019777577370405197, + 0.04515192333088244, + -0.08743721249881482 + ], + [ + 0.021276174452290353, + 0.9992303848266602, + -0.03295439775963942, + -0.037381608495814615 + ], + [ + -0.044465413087955576, + 0.0338749960064888, + 0.9984364401483332, + 0.0074936912156870214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9987292637942117, + -0.019727405160665512, + 0.046375725754906526, + -0.08839746311983679 + ], + [ + 0.021265195806011935, + 0.999232292175293, + -0.0329032624445577, + -0.03736390754036777 + ], + [ + -0.04569102437440454, + 0.033847637474536896, + 0.998382007392689, + 0.007658475489548012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9986726828324214, + -0.019677232950925827, + 0.047599463350406206, + -0.08935766595780842 + ], + [ + 0.021254123285160593, + 0.9992341995239258, + -0.03285219126201011, + -0.03734610331762907 + ], + [ + -0.046916567747065936, + 0.033820271492004395, + 0.9983260877271908, + 0.00782351166787687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9986145595710103, + -0.01962706632912159, + 0.04882313208537678, + -0.09031782437930036 + ], + [ + 0.02124295913275724, + 0.9992361068725586, + -0.032801187952363364, + -0.03732820341451161 + ], + [ + -0.04814204699381554, + 0.033792894333601, + 0.998268680852203, + 0.007988800096751257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985550132710711, + -0.0195769015699625, + 0.05004673461812251, + -0.09127794275983933 + ], + [ + 0.02123170772678722, + 0.9992380142211914, + -0.03275025983216943, + -0.03731020814062678 + ], + [ + -0.049367452894447376, + 0.0337655134499073, + 0.9982097873591141, + 0.008154340009960504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9984939248311194, + -0.019526740536093712, + 0.051270264599703304, + -0.0922380370817761 + ], + [ + 0.021220366577989074, + 0.9992399215698242, + -0.03269939601743458, + -0.037292106084153384 + ], + [ + -0.050592783138379976, + 0.033738117665052414, + 0.9981493476253285, + 0.008320182997396997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9984312947431366, + -0.01947658509016037, + 0.052493714481057635, + -0.09319808485071371 + ], + [ + 0.021208934494474398, + 0.999241828918457, + -0.03264860421332881, + -0.037273889719386305 + ], + [ + -0.05181803447545747, + 0.033710721880197525, + 0.9980874216034311, + 0.008486277157387806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983671818776295, + -0.019426429644227028, + 0.05371709594660761, + -0.09415810687332421 + ], + [ + 0.0211974129403354, + 0.9992437362670898, + -0.032597876996375674, + -0.03725557399649625 + ], + [ + -0.053043210037866044, + 0.03368331864476204, + 0.998023949272957, + 0.008652675168776765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9983015869944372, + -0.019376285374164585, + 0.05494039792789968, + -0.09511808833554908 + ], + [ + 0.02118580714479749, + 0.9992456436157229, + -0.03254723280322324, + -0.03723715935828552 + ], + [ + -0.05426831114160643, + 0.03365591168403626, + 0.9979590500211883, + 0.008819324502377485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982345097710221, + -0.019326139241456985, + 0.05616362421821343, + -0.09607802732056951 + ], + [ + 0.02117411031783296, + 0.9992475509643555, + -0.03249665360461897, + -0.037218648937236185 + ], + [ + -0.05549332905173238, + 0.033628497272729874, + 0.9978926049227317, + 0.008986225482889354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981658912891443, + -0.019275993108749393, + 0.057386762900191644, + -0.09703793612805083 + ], + [ + 0.021162317302263915, + 0.9992493987083437, + -0.03244614368766099, + -0.03720002370232877 + ], + [ + -0.05671825992934585, + 0.033601071685552604, + 0.997824614229869, + 0.009153429340986164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9980957905131642, + -0.019225856289267543, + 0.05860982405909754, + -0.09799780230878515 + ], + [ + 0.021150441529437233, + 0.9992513060569765, + -0.03239570591521819, + -0.03718130328551038 + ], + [ + -0.057943111055264375, + 0.03357363864779473, + 0.9977551969098027, + 0.009320885155957087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9980242079649074, + -0.01917572133243084, + 0.0598328003441264, + -0.09895762964303305 + ], + [ + 0.021138479437555407, + 0.9992532134056091, + -0.03234534069874761, + -0.0371624874055559 + ], + [ + -0.05916787330383494, + 0.03354620561003685, + 0.9976842340672195, + 0.009488591519543742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9979510840346176, + -0.01912558451294899, + 0.061055688928823355, + -0.0999174245559374 + ], + [ + 0.021126420039498967, + 0.9992550611495972, + -0.03229504906086474, + -0.03714355654965735 + ], + [ + -0.06039254945489731, + 0.03351876512169838, + 0.9976117852331461, + 0.009656602170187958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9978764785405333, + -0.019075460731983185, + 0.06227848895154358, + -0.10087717862955324 + ], + [ + 0.021114281755096977, + 0.99925696849823, + -0.032244825946570244, + -0.03712452330786819 + ], + [ + -0.06161712918327073, + 0.03349132090806961, + 0.9975377914039354, + 0.009824863095132782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9978003915891048, + -0.01902533881366253, + 0.06350119863383373, + -0.10183689186388059 + ], + [ + 0.021102053279714275, + 0.999258816242218, + -0.03219466866623472, + -0.03710540165356623 + ], + [ + -0.06284161911296772, + 0.03346386179327965, + 0.997462311811437, + 0.009993376186214585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9977227631162533, + -0.018975213170051575, + 0.06472382052198125, + -0.10279657415357024 + ], + [ + 0.021089729794524344, + 0.9992607235908508, + -0.03214458525265819, + -0.037086165112394855 + ], + [ + -0.06406602302694715, + 0.03343639522790909, + 0.9973853460991112, + 0.010162193300697847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976437134163413, + -0.018925096839666367, + 0.06594634597867054, + -0.1037562186615136 + ], + [ + 0.021077325075728272, + 0.9992625713348389, + -0.03209458219090585, + -0.03706683344669533 + ], + [ + -0.06529032243396576, + 0.03340892866253853, + 0.9973068957711816, + 0.010331260497365095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9975630631769117, + -0.018874982371926308, + 0.06716877301044383, + -0.1047158103147515 + ], + [ + 0.021064830287770283, + 0.9992644190788269, + -0.03204464167265597, + -0.03704739838184068 + ], + [ + -0.06651452531208389, + 0.03338145092129707, + 0.9972269003177858, + 0.010500580023774018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9974809911499206, + -0.018824871629476547, + 0.06839110933451265, + -0.10567538270992409 + ], + [ + 0.021052248692844503, + 0.9992663264274597, + -0.031994778526040164, + -0.037027860225266856 + ], + [ + -0.06773862926439196, + 0.03335396945476532, + 0.9971454197226173, + 0.010670202060188467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9973973788408634, + -0.018774762749671936, + 0.06961334107905269, + -0.1066349089697386 + ], + [ + 0.021039577950483817, + 0.9992681741714478, + -0.031944985625261615, + -0.03700821499801437 + ], + [ + -0.06896263436185375, + 0.03332647681236267, + 0.9970624539456039, + 0.010840076237675841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973122258912157, + -0.018724659457802773, + 0.07083547183723357, + -0.10759438511073237 + ], + [ + 0.021026822244867384, + 0.9992700219154358, + -0.031895266491999454, + -0.03698847422918469 + ], + [ + -0.07018653539326296, + 0.03329898416996002, + 0.9969779435704906, + 0.01101020086714497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9972256519859886, + -0.018674559891223907, + 0.07205750105240263, + -0.10855384025796887 + ], + [ + 0.021013979541447115, + 0.9992718696594238, + -0.0318456177106869, + -0.03696862653108839 + ], + [ + -0.0714103301594305, + 0.03327148035168648, + 0.9968919485953543, + 0.011180628865907979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9971375376812323, + -0.01862446404993534, + 0.07327942559481145, + -0.1095132526057461 + ], + [ + 0.021001046273611018, + 0.9992737174034119, + -0.03179603975411716, + -0.03694868273424767 + ], + [ + -0.07263401873179288, + 0.033243972808122635, + 0.9968044689867194, + 0.01135130928295565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9970479426261434, + -0.018574370071291927, + 0.07450124711241485, + -0.11047261808909055 + ], + [ + 0.020988028834845657, + 0.9992755651474001, + -0.031746539674435664, + -0.036928632237717245 + ], + [ + -0.07385759941406987, + 0.033216454088687904, + 0.996715445010312, + 0.011522239694839067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9969568082830494, + -0.018524279817938805, + 0.07572295086700874, + -0.11143195552456021 + ], + [ + 0.020974925191725745, + 0.9992774128913879, + -0.0316971140614022, + -0.036908482274207836 + ], + [ + -0.07508107018170695, + 0.03318893536925316, + 0.996624996531751, + 0.011693473938706107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968641938027952, + -0.018474197015166283, + 0.07694454420325358, + -0.1123912534616966 + ], + [ + 0.020961734799481536, + 0.999279260635376, + -0.031647755630159695, + -0.03688822156758104 + ], + [ + -0.07630442004533153, + 0.033161409199237823, + 0.996532944965213, + 0.011864958013981273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9967700984319012, + -0.01842411234974861, + 0.07816603461536896, + -0.11335049874646635 + ], + [ + 0.020948456644764447, + 0.999281108379364, + -0.03159847210946445, + -0.03686787237440169 + ], + [ + -0.07752766570023964, + 0.033133868128061295, + 0.9964394683050317, + 0.01203669531083471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9966744638431612, + -0.01837403140962124, + 0.079387405317166, + -0.11430971933917689 + ], + [ + 0.020935088672070157, + 0.9992828965187073, + -0.03154926010887544, + -0.03684740837842722 + ], + [ + -0.07875079222967475, + 0.03310632333159447, + 0.996344448184274, + 0.01220873494476995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.996577408835728, + -0.018323954194784164, + 0.0806086659405622, + -0.11526890418387305 + ], + [ + 0.020921639167456697, + 0.9992847442626953, + -0.031500126463683914, + -0.03682684899612475 + ], + [ + -0.0799737997490992, + 0.03307878226041794, + 0.9962479444425429, + 0.01238102536632134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9964787554007032, + -0.018273886293172836, + 0.08182979915788592, + -0.11622803043457616 + ], + [ + 0.02090810571182936, + 0.9992865920066833, + -0.03145106406111467, + -0.036806186504553785 + ], + [ + -0.08119669203704806, + 0.03305122256278992, + 0.9961499566807865, + 0.012553568737819043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9963786816382537, + -0.018223818391561508, + 0.08305082059741707, + -0.11718713953901962 + ], + [ + 0.020894482889229765, + 0.9992884397506714, + -0.03140207358377907, + -0.03678541289800617 + ], + [ + -0.08241945396442085, + 0.0330236591398716, + 0.9960504264664879, + 0.012726413383544345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9962770690619596, + -0.01817375235259533, + 0.08427171668435428, + -0.11814619559894901 + ], + [ + 0.020880777155068083, + 0.9992902278900146, + -0.031353162026835524, + -0.036764547434767335 + ], + [ + -0.0836420969643957, + 0.03299609199166298, + 0.9959494125331925, + 0.012899509444786926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9961739769373856, + -0.018123690038919452, + 0.08549249336194725, + -0.11910523233780984 + ], + [ + 0.020866981225123437, + 0.9992920756340029, + -0.0313043115522422, + -0.03674356695208405 + ], + [ + -0.08486461740045279, + 0.032968509942293174, + 0.9958469152095859, + 0.013072909359732824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960693466857244, + -0.018073633313179016, + 0.0867131371685308, + -0.12006419905796108 + ], + [ + 0.020853103448203007, + 0.999293863773346, + -0.03125554767236769, + -0.036722509593763775 + ], + [ + -0.08608700551058719, + 0.032940931618213654, + 0.995742875545647, + 0.01324650783185074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9959632367981833, + -0.018023576587438587, + 0.08793366158874831, + -0.12102316303970626 + ], + [ + 0.02083913691244089, + 0.9992957115173342, + -0.031206856267635825, + -0.03670131498037903 + ], + [ + -0.08730927355344947, + 0.03291334211826325, + 0.9956374120882391, + 0.01342046263233793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9958556483803777, + -0.017973529174923897, + 0.08915405558304053, + -0.12198206107739087 + ], + [ + 0.020825091026695514, + 0.9992974996566772, + -0.03115823650405377, + -0.03668004366217296 + ], + [ + -0.08853139932005989, + 0.03288574889302254, + 0.9955303473381972, + 0.013594614567065729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9957465811978419, + -0.01792348176240921, + 0.09037432108126667, + -0.12294093596113205 + ], + [ + 0.020810956279249927, + 0.9992992877960205, + -0.031109685777928105, + -0.0366586610893637 + ], + [ + -0.08975339960314681, + 0.032858140766620636, + 0.9954218593022955, + 0.013769071174897186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.995635976139591, + -0.017873438075184822, + 0.0915944499216981, + -0.12389975715010562 + ], + [ + 0.02079673850494339, + 0.9993010759353638, + -0.031061222353742056, + -0.036637171618634556 + ], + [ + -0.0909752637475997, + 0.03283053636550903, + 0.9953118291999288, + 0.013943778236082793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.995523892734697, + -0.01782339997589588, + 0.09281444565950493, + -0.12485854016643154 + ], + [ + 0.020782437734567314, + 0.9993029236793518, + -0.031012827638276782, + -0.03661559753438347 + ], + [ + -0.09219698882052738, + 0.032802924513816833, + 0.9952003172653191, + 0.014118736122937079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9954102716901687, + -0.01777336187660694, + 0.09403430185533178, + -0.12581728597900116 + ], + [ + 0.020768049769154216, + 0.9993047118186951, + -0.030964513476938, + -0.036593904857149126 + ], + [ + -0.09341858044826296, + 0.03277530148625374, + 0.9950873228628739, + 0.014293997778212188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9952952317648934, + -0.0177233275026083, + 0.09525402877537122, + -0.12677600185701776 + ], + [ + 0.020753576838414837, + 0.9993064999580383, + -0.030916264788007197, + -0.03657211611213329 + ], + [ + -0.09464002841658958, + 0.032747674733400345, + 0.9949727871147062, + 0.01446951045754912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9951786548382835, + -0.017673300579190258, + 0.09647360969688998, + -0.12773468230333423 + ], + [ + 0.020739024843830438, + 0.9993082880973818, + -0.030868099799049472, + -0.03655021706683619 + ], + [ + -0.09586133184235791, + 0.03272004052996636, + 0.9948567700634839, + 0.014645325142078336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9950605404705857, + -0.01762327365577221, + 0.09769304820373029, + -0.1286933121410903 + ], + [ + 0.020724380765755283, + 0.9993100762367249, + -0.0308200013737022, + -0.03652821365811746 + ], + [ + -0.09708249912606856, + 0.03269239515066147, + 0.994739270741296, + 0.014821391850009457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9949409487948317, + -0.017573250457644463, + 0.09891234262404537, + -0.1296518979838412 + ], + [ + 0.020709657527248952, + 0.9993118643760681, + -0.030771983202629475, + -0.03650611850356346 + ], + [ + -0.09830351338212157, + 0.032664746046066284, + 0.9946202310368221, + 0.014997708885107763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9948198794517364, + -0.017523229122161865, + 0.10013149581053567, + -0.1306104397622766 + ], + [ + 0.02069484803763599, + 0.9993136525154114, + -0.030724031238647864, + -0.036483923298917836 + ], + [ + -0.09952438502818708, + 0.032637085765600204, + 0.9944997097256241, + 0.015174277388190322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9946973333585977, + -0.017473215237259865, + 0.10135049951314208, + -0.13156895619977624 + ], + [ + 0.020679956428987418, + 0.9993154406547546, + -0.03067616390483188, + -0.036461613618575514 + ], + [ + -0.10074510395777365, + 0.032609425485134125, + 0.9943777079464953, + 0.015351149255705578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9945732504160595, + -0.017423205077648163, + 0.1025693542390574, + -0.132527421622444 + ], + [ + 0.020664986149761925, + 0.9993171691894531, + -0.030628377190257502, + -0.03643921218338026 + ], + [ + -0.10196567764258314, + 0.03258176147937775, + 0.9942542248075773, + 0.015528271645330981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944476903220729, + -0.01737319864332676, + 0.10378806227888984, + -0.13348586519972555 + ], + [ + 0.020649929093026802, + 0.9993189573287964, + -0.030580664689189387, + -0.036416695660260484 + ], + [ + -0.10318609634188584, + 0.03255408629775047, + 0.9941292013997051, + 0.015705697206918626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9943206541327017, + -0.01732319034636021, + 0.10500661446099513, + -0.13444425910613314 + ], + [ + 0.020634787257850513, + 0.9993207454681399, + -0.030533026320082396, + -0.03639408287292018 + ], + [ + -0.1044063559336425, + 0.03252640739083291, + 0.9940026982098439, + 0.0158833731282412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9941920818629593, + -0.01727319322526455, + 0.106225010170911, + -0.1354026072874715 + ], + [ + 0.020619566788604025, + 0.9993225336074829, + -0.030485465243536472, + -0.03637136707828524 + ], + [ + -0.10562645764699978, + 0.03249872103333473, + 0.9938746550409306, + 0.016061300136342903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9940620334356682, + -0.017223196104168892, + 0.10744325004731005, + -0.1363609260997809 + ], + [ + 0.020604258641655705, + 0.9993242621421814, + -0.030437967686131603, + -0.03634854714813331 + ], + [ + -0.10684640934380207, + 0.03247101977467537, + 0.9937451909861303, + 0.016239530997148994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9939304495395681, + -0.017173198983073238, + 0.10866132779694751, + -0.1373191952306282 + ], + [ + 0.02058886981934738, + 0.9993260502815249, + -0.030390559217062976, + -0.036325623923297114 + ], + [ + -0.10806619577612193, + 0.032443314790725715, + 0.9936141877873802, + 0.016418012251144882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937974487912431, + -0.017123209312558174, + 0.10987925524637286, + -0.13827742908788193 + ], + [ + 0.020573398679515482, + 0.9993277788162231, + -0.030343225170382893, + -0.036302604610157906 + ], + [ + -0.10928581404698688, + 0.03241560608148575, + 0.9934816457756629, + 0.016596743755845023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9936629131870225, + -0.01707322709262371, + 0.11109701504598608, + -0.13923560943743762 + ], + [ + 0.020557849531600562, + 0.9993295669555664, + -0.030295968905315603, + -0.036279485993362955 + ], + [ + -0.11050527795596082, + 0.03238789737224579, + 0.9933476833375984, + 0.01677572706652133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9935268428249933, + -0.0170232392847538, + 0.11231460615368309, + -0.140193756559082 + ], + [ + 0.020542208664296607, + 0.9993312954902649, + -0.03024878478145389, + -0.03625626260488314 + ], + [ + -0.11172457186629542, + 0.032360173761844635, + 0.9932121822635622, + 0.016955013219682603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9933893559319326, + -0.016973262652754784, + 0.1135320435576344, + -0.14115188706520262 + ], + [ + 0.02052649473583624, + 0.9993330240249634, + -0.030201685613784068, + -0.03623292185349223 + ], + [ + -0.1129437013589925, + 0.03233245015144348, + 0.9930752018978388, + 0.017134602244259937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993250334675507, + -0.01692328415811062, + 0.114749308596154, + -0.1421099460279672 + ], + [ + 0.02051069309316067, + 0.9993348121643066, + -0.03015465838705637, + -0.03620949538470886 + ], + [ + -0.11416265519079526, + 0.032304711639881134, + 0.992936683560482, + 0.017314389533201344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9931097793950067, + -0.016873311251401905, + 0.11596639838002505, + -0.14306796959018525 + ], + [ + 0.020494811744981595, + 0.9993365406990053, + -0.030107705980828545, + -0.036185958105989256 + ], + [ + -0.11538144767996514, + 0.032276969403028495, + 0.9927967455774136, + 0.017494480323431927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.992967808876358, + -0.016823343932628635, + 0.11718332366919705, + -0.144025958066327 + ], + [ + 0.020478851809049025, + 0.9993382692337038, + -0.030060835902088422, + -0.036162321315151395 + ], + [ + -0.11660005123078705, + 0.03224922344088555, + 0.9926552111948115, + 0.017674820952225445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9928243042695115, + -0.01677337847650051, + 0.11840007372691883, + -0.14498391467438418 + ], + [ + 0.020462808789410883, + 0.9993399977684021, + -0.030014041368979262, + -0.036138576948770956 + ], + [ + -0.11781849173285106, + 0.032221466302871704, + 0.9925122573411017, + 0.01785546531225809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.992679325242884, + -0.01672341860830784, + 0.11961665169472414, + -0.14594182565673205 + ], + [ + 0.02044668702224235, + 0.9993417263031006, + -0.02996732571304214, + -0.03611472926798175 + ], + [ + -0.11903674907961036, + 0.032193709164857864, + 0.9923677663996867, + 0.018036359321069072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9925328128021642, + -0.016673460602760315, + 0.12083304878343264, + -0.14689968312159798 + ], + [ + 0.02043047829261974, + 0.9993434548377991, + -0.02992068266008582, + -0.03609078833185116 + ], + [ + -0.12025483201203647, + 0.03216593712568283, + 0.9922217973121429, + 0.01821750574996173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9923848266153649, + -0.01662350445985794, + 0.12204926826615442, + -0.14785751721420629 + ], + [ + 0.020414192126339402, + 0.9993451833724976, + -0.02987412611992245, + -0.03606673301210434 + ], + [ + -0.12147273598483274, + 0.0321381650865078, + 0.9920743506616674, + 0.018398954521224906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9922353662653939, + -0.016573552042245865, + 0.12326531298750726, + -0.14881530736313772 + ], + [ + 0.020397824342235835, + 0.999346911907196, + -0.029827638003303576, + -0.036042577630813005 + ], + [ + -0.1226904539199004, + 0.03211038187146187, + 0.9919253672333821, + 0.01858065372751747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9920843739228732, + -0.016523605212569237, + 0.12448116565986334, + -0.1497730419054697 + ], + [ + 0.020381375255968632, + 0.9993486404418945, + -0.029781233453649865, + -0.03601832963828057 + ], + [ + -0.12390798460204253, + 0.03208259493112564, + 0.9917749073298024, + 0.018762603400046766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9919319077260532, + -0.016473662108182907, + 0.12569684082456653, + -0.1507307500515699 + ], + [ + 0.020364850578773967, + 0.999350368976593, + -0.029734911828804295, + -0.03599396743185693 + ], + [ + -0.12512533640587317, + 0.032054804265499115, + 0.991622969780176, + 0.018944856138228394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9917779686516114, + -0.01642372272908688, + 0.12691233117681927, + -0.15168841327377425 + ], + [ + 0.020348241039841338, + 0.999352037906647, + -0.029688659512867966, + -0.03596950089769799 + ], + [ + -0.1263425020205855, + 0.0320270024240017, + 0.9914695555668451, + 0.01912736066139839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9916224976416318, + -0.016373785212635994, + 0.12812762846307532, + -0.1526460242073527 + ], + [ + 0.020331553342649657, + 0.9993537664413452, + -0.029642483241304817, + -0.03594494582169969 + ], + [ + -0.1275594713422706, + 0.03199918940663338, + 0.9913146058978746, + 0.01931011517729253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9914655543458042, + -0.01632385142147541, + 0.12934273634910795, + -0.1536036124562796 + ], + [ + 0.020314783679952843, + 0.9993554949760437, + -0.029596394982687183, + -0.03592027554729347 + ], + [ + -0.12877624987565717, + 0.03197137638926506, + 0.9911581801723681, + 0.01949317161039255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9913071378041312, + -0.016273923218250275, + 0.13055766136490018, + -0.1545611527198929 + ], + [ + 0.020297936187184357, + 0.9993571639060974, + -0.02955038301107361, + -0.035895512987925704 + ], + [ + -0.12999283384184865, + 0.031943559646606445, + 0.9910002186990351, + 0.019676478541945916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9911472494196734, + -0.01622399501502514, + 0.1317723934439719, + -0.15551864794551948 + ], + [ + 0.020281009172212885, + 0.9993588924407959, + -0.029504447709408445, + -0.0358706355231559 + ], + [ + -0.131209231866411, + 0.031915731728076935, + 0.9908408406382853, + 0.019860038657132005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9909858301751685, + -0.01617407612502575, + 0.13298692407461524, + -0.15647610820470514 + ], + [ + 0.020264005167430824, + 0.9993605613708496, + -0.029458592618111224, + -0.035845658380000825 + ], + [ + -0.13242542519400802, + 0.03188789635896683, + 0.9906799282363864, + 0.020043899787531173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9908228801935708, + -0.01612415537238121, + 0.13420125221731838, + -0.15743351559062096 + ], + [ + 0.02024691750581314, + 0.9993622899055481, + -0.029412822618944397, + -0.03582058800371483 + ], + [ + -0.13364141278009517, + 0.03186005726456642, + 0.9905174816280616, + 0.020228010809968843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9906585176599367, + -0.01607424020767212, + 0.13541539334612337, + -0.15839088627619619 + ], + [ + 0.02022975101323829, + 0.9993639588356018, + -0.029367118332539514, + -0.03579541019298211 + ], + [ + -0.13485721193632375, + 0.03183220326900482, + 0.9903536187377191, + 0.020412374007777446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9904926248687203, + -0.016024328768253326, + 0.13662932832349017, + -0.1593482235155877 + ], + [ + 0.020212507256414988, + 0.9993656277656555, + -0.029321502262074535, + -0.03577012137116738 + ], + [ + -0.13607280351927512, + 0.03180435672402382, + 0.9901882218655389, + 0.020597039033272535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9903252610266754, + -0.01597442291676998, + 0.1378430640356556, + -0.16030551260973225 + ], + [ + 0.020195187160961848, + 0.999367356300354, + -0.02927596687900045, + -0.03574473656356585 + ], + [ + -0.1372881837205889, + 0.03177649527788162, + 0.9900212915560108, + 0.020781954131062146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9901563674347161, + -0.015924515202641487, + 0.13905658980488225, + -0.16126276892923286 + ], + [ + 0.020177782774511852, + 0.9993690252304077, + -0.029230502220961276, + -0.035719235955371936 + ], + [ + -0.13850337023944956, + 0.03174862265586853, + 0.9898529456767441, + 0.020967173097089193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9899860623501052, + -0.01587461680173874, + 0.14026992070229266, + -0.16221996820352763 + ], + [ + 0.020160306240579448, + 0.9993706941604614, + -0.029185125439180223, + -0.035693658528935135 + ], + [ + -0.13971834078375958, + 0.03172075003385544, + 0.9896830670129318, + 0.02115258958427165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9898141693823835, + -0.01582472026348114, + 0.14148302711443564, + -0.1631771256375864 + ], + [ + 0.020142749252377395, + 0.9993723630905151, + -0.029139830399269633, + -0.035667962046301314 + ], + [ + -0.1409331033504793, + 0.031692877411842346, + 0.9895117146226805, + 0.021338308954722593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9896408648432634, + -0.01577482372522354, + 0.14269593880610992, + -0.1641342641357779 + ], + [ + 0.020125111759485118, + 0.9993740320205688, + -0.029094609723375898, + -0.035642153932543635 + ], + [ + -0.1421476498254279, + 0.03166498988866806, + 0.9893388294280547, + 0.021524331134779813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9894660317209776, + -0.01572493650019169, + 0.14390863218441197, + -0.16509134992980232 + ], + [ + 0.02010740022517519, + 0.9993757009506226, + -0.02904947386597571, + -0.03561625373165019 + ], + [ + -0.1433619947418612, + 0.031637098640203476, + 0.9891645297828935, + 0.02171060443007033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9892897287473728, + -0.01567504927515984, + 0.14512111728543098, + -0.16604838634684432 + ], + [ + 0.02008960757455186, + 0.9993773698806765, + -0.02900441275879317, + -0.03559024918396337 + ], + [ + -0.1445761189752394, + 0.031609192490577705, + 0.9889886979979903, + 0.021897128455540617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9891118981619333, + -0.015625163912773136, + 0.14633337752556938, + -0.16700537171954358 + ], + [ + 0.020071736033496747, + 0.9993790388107302, + -0.028959433746440597, + -0.03556415174029599 + ], + [ + -0.14579001688190443, + 0.031581286340951926, + 0.9888113349392187, + 0.022083900746160103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9889326575486707, + -0.015575285069644455, + 0.14754543243397397, + -0.16796233742584804 + ], + [ + 0.020053790368369948, + 0.9993807077407839, + -0.028914536220897392, + -0.03553794348538701 + ], + [ + -0.14700370614574784, + 0.03155337274074555, + 0.988632558488975, + 0.022270977407984477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9887518299804936, + -0.015525411814451221, + 0.14875725583671817, + -0.1689192424653756 + ], + [ + 0.02003576949451015, + 0.9993823766708376, + -0.028869724263235225, + -0.03551162792921907 + ], + [ + -0.14821717185467145, + 0.031525462865829475, + 0.9884522502917891, + 0.022458304716438785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9885695922975667, + -0.01547553762793541, + 0.14996887405730086, + -0.16987611006397788 + ], + [ + 0.02001766570086073, + 0.9993840456008911, + -0.028824984164204464, + -0.03548521877499407 + ], + [ + -0.14943041020544165, + 0.0314975269138813, + 0.9882704109271134, + 0.022645881429286665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9883858282444261, + -0.015425669960677624, + 0.15118025905735838, + -0.17083293649369236 + ], + [ + 0.019999488266709706, + 0.9993856549263, + -0.02878032589810838, + -0.035458702513005355 + ], + [ + -0.15064343283199, + 0.031469590961933136, + 0.9880871592494352, + 0.022833762683924286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9882005963488926, + -0.015375804156064987, + 0.152391422180018, + -0.17178972544853974 + ], + [ + 0.019981232762308634, + 0.9993873238563538, + -0.028735750323834557, + -0.03543207839708517 + ], + [ + -0.15185622075800906, + 0.03144165500998497, + 0.9879023775609918, + 0.023021892722845508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9880138965730568, + -0.015325943008065224, + 0.15360236350082418, + -0.17274648061384412 + ], + [ + 0.019962899669709218, + 0.9993889331817627, + -0.028691253736364074, + -0.035405350208694925 + ], + [ + -0.15306878538411856, + 0.03141370788216591, + 0.9877161243771011, + 0.023210325299985866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9878256705282052, + -0.015276085585355759, + 0.15481307058838048, + -0.17370318580696642 + ], + [ + 0.019944492510629026, + 0.9993906021118164, + -0.028646839474591786, + -0.035378514742525 + ], + [ + -0.1542811124357284, + 0.03138575330376625, + 0.9875283416195618, + 0.023399007932769104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9876359773035662, + -0.015226231887936596, + 0.15602355130123516, + -0.17465984033556967 + ], + [ + 0.019926008390772184, + 0.9993922114372256, + -0.02860251193581072, + -0.035351590093194794 + ], + [ + -0.1554932214179841, + 0.0313577950000763, + 0.9873391468739473, + 0.023587942529252382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9874448168586853, + -0.015176380053162575, + 0.1572338057143942, + -0.17561644974642812 + ], + [ + 0.01990744624105386, + 0.999393880367279, + -0.028558252561705008, + -0.03532456869970326 + ], + [ + -0.15670509099981345, + 0.03132982179522514, + 0.98714842282127, + 0.02377712792857569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9872521319312108, + -0.01512653473764658, + 0.15844381477631805, + -0.17657302388249824 + ], + [ + 0.019888811449529867, + 0.999395489692688, + -0.028514087031660893, + -0.03529742891815066 + ], + [ + -0.15791671371123864, + 0.03130185231566429, + 0.9869561707022259, + 0.023966613005152217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9870579800394385, + -0.015076691284775734, + 0.15965359572387894, + -0.17752955366109344 + ], + [ + 0.019870099589530343, + 0.9993971586227417, + -0.02847000490308003, + -0.035270184937262146 + ], + [ + -0.1591281149544936, + 0.03127387538552284, + 0.9867625071122808, + 0.024156351283780686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9868623033279383, + -0.015026850625872612, + 0.16086313305091474, + -0.17848604126450016 + ], + [ + 0.01985131048951495, + 0.9993987679481506, + -0.028425998795577657, + -0.03524284045904112 + ], + [ + -0.16033927117633187, + 0.031245891004800797, + 0.9865673151126018, + 0.024346391071771986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9866652197381739, + -0.014977015554904938, + 0.16207244415773764, + -0.17944250013850896 + ], + [ + 0.019832448314731372, + 0.9994003772735596, + -0.028382075697384213, + -0.035215392380779004 + ], + [ + -0.16155017766429614, + 0.031217899173498154, + 0.9863705954940312, + 0.02453667948473531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9864666119087747, + -0.014927184209227562, + 0.1632815079948945, + -0.1803988980804553 + ], + [ + 0.019813511397742192, + 0.9994019865989685, + -0.028338236035087363, + -0.035187844108216015 + ], + [ + -0.16276085561428028, + 0.031189901754260063, + 0.9861724655564937, + 0.024727220097105228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9862664805553732, + -0.014877352863550186, + 0.16449032031598027, + -0.18135526009405742 + ], + [ + 0.019794494313249495, + 0.9994035959243774, + -0.0282944695548964, + -0.035160191017992885 + ], + [ + -0.16397127925523663, + 0.031161891296505928, + 0.9859728087667089, + 0.024918062697045662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9860649427629338, + -0.014827528968453407, + 0.16569890349637664, + -0.18231156731193526 + ], + [ + 0.01977540776189959, + 0.9994052648544312, + -0.028250793442072413, + -0.03513244969058627 + ], + [ + -0.16518146154624128, + 0.031133878976106644, + 0.9857716833555726, + 0.025109104160462158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9858618814766646, + -0.014777708798646927, + 0.16690723472427094, + -0.18326785422983816 + ], + [ + 0.019756244483911417, + 0.9994068741798401, + -0.028207197763056007, + -0.03510458165632167 + ], + [ + -0.16639138941192186, + 0.03110586106777191, + 0.9855690310822826, + 0.02530049919872265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9856572975872518, + -0.014727888628840446, + 0.16811530883832362, + -0.18422406857368548 + ], + [ + 0.019737005291306356, + 0.999408483505249, + -0.028163686306281726, + -0.03507662796234108 + ], + [ + -0.1676010676849639, + 0.031077835708856583, + 0.9853649116082729, + 0.02549209157712116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9854513077774174, + -0.014678074046969414, + 0.16932315043205315, + -0.18518026259928347 + ], + [ + 0.019717691530539958, + 0.9994100332260132, + -0.028120255194674572, + -0.03504855903208539 + ], + [ + -0.16881050102045195, + 0.031049802899360657, + 0.9851593240905696, + 0.025683989063688267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9852437964686029, + -0.014628264121711254, + 0.17053072851773224, + -0.18613640447456142 + ], + [ + 0.019698306770487634, + 0.9994116425514221, + -0.028076907712463448, + -0.03502039778654076 + ], + [ + -0.17001967894626582, + 0.031021766364574432, + 0.9849522703893644, + 0.025876134924895024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.985034762259025, + -0.014578456990420818, + 0.17173805076930604, + -0.18709250309185277 + ], + [ + 0.01967884501578484, + 0.999413251876831, + -0.028033641295667995, + -0.034992124519898526 + ], + [ + -0.1712285977577303, + 0.030993718653917313, + 0.9847436905978946, + 0.026068583335466092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9848243243229842, + -0.014528652653098106, + 0.17294512795924594, + -0.18804857045025794 + ], + [ + 0.019659309262878042, + 0.99941486120224, + -0.027990461229265722, + -0.034963743402135664 + ], + [ + -0.17243725934089366, + 0.030965669080615044, + 0.9845336449336483, + 0.02626128134765499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9846123643461133, + -0.014478851109743118, + 0.174151944296149, + -0.1890045814130737 + ], + [ + 0.019639699014913373, + 0.9994164705276489, + -0.02794736396268312, + -0.034935276685684157 + ], + [ + -0.17364566834754575, + 0.03093761019408703, + 0.9843221325356606, + 0.026454230585445406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9843988839245912, + -0.014429057016968727, + 0.17535849096034017, + -0.18996054992061073 + ], + [ + 0.0196200183380639, + 0.9994180202484131, + -0.027904345100915738, + -0.03490669158363828 + ], + [ + -0.17485380530300818, + 0.030909541994333267, + 0.9841090963634224, + 0.02664748192510171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9841840000089914, + -0.014379264786839485, + 0.17656479102374092, + -0.19091648435134434 + ], + [ + 0.019600261421202535, + 0.999419629573822, + -0.027861413434259952, + -0.03487800554620602 + ], + [ + -0.17606168236736217, + 0.030881471931934357, + 0.9838945947780526, + 0.026840983329955406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9839675950975739, + -0.014329474419355392, + 0.17777082418476356, + -0.19187235927748522 + ], + [ + 0.01958043073354131, + 0.9994211792945862, + -0.02781856107521649, + -0.03484922278072074 + ], + [ + -0.17726930098407387, + 0.0308533925563097, + 0.9836786274949856, + 0.02703473585768803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9837496702142186, + -0.014279690571129322, + 0.17897658483269466, + -0.19282819973939844 + ], + [ + 0.019560529067408964, + 0.9994227886199951, + -0.027775797117240743, + -0.03482032877189252 + ], + [ + -0.17847665481497085, + 0.030825309455394745, + 0.9834611956833514, + 0.027228789414161694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9835303424848906, + -0.014229905791580677, + 0.180182095049512, + -0.19378400056447329 + ], + [ + 0.019540551210876167, + 0.9994243383407593, + -0.027733113208466872, + -0.034791333774394355 + ], + [ + -0.1796837346617944, + 0.030797217041254044, + 0.9832422404115057, + 0.027423094332586835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9833094958668677, + -0.014180131256580356, + 0.18138732682812014, + -0.19473974636289615 + ], + [ + 0.019520506032998267, + 0.9994259476661684, + -0.027690515394338987, + -0.034762243063604835 + ], + [ + -0.18089054470340274, + 0.0307691190391779, + 0.9830218215394668, + 0.027617648769723734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9830871883814106, + -0.014130355790257454, + 0.18259229402468147, + -0.19569546475726735 + ], + [ + 0.01950038386003567, + 0.9994274973869324, + -0.027648001863875782, + -0.03473304363398376 + ], + [ + -0.18209707652807158, + 0.030741015449166298, + 0.9827998799855087, + 0.02781250380263474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9828633623438794, + -0.014080582186579704, + 0.18379698084895912, + -0.19665112409516713 + ], + [ + 0.019480189079779837, + 0.9994290471076965, + -0.0276055700313348, + -0.03470374001721421 + ], + [ + -0.1833033480242439, + 0.030712904408574104, + 0.9825765336865772, + 0.028007611546697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9826380762718915, + -0.014030814170837402, + 0.18500139854033615, + -0.19760673636339113 + ], + [ + 0.019459922206757522, + 0.9994306564331055, + -0.027563221836458145, + -0.03467433224925935 + ], + [ + -0.18450933674323536, + 0.030684784054756165, + 0.9823516655562974, + 0.02820296846727434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9824113308410374, + -0.013981052674353123, + 0.1862055435170796, + -0.1985623230281006 + ], + [ + 0.019439586862750068, + 0.9994322061538696, + -0.027520960509991515, + -0.03464482653433369 + ], + [ + -0.1857150389063444, + 0.030656661838293076, + 0.982125276316278, + 0.028398626336413407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9821830674416857, + -0.013931291177868843, + 0.1874094048276507, + -0.19951784932239627 + ], + [ + 0.019419173204729405, + 0.9994337558746338, + -0.027478778626327537, + -0.034615211718527404 + ], + [ + -0.18692047781768414, + 0.03062852844595909, + 0.9818974828668526, + 0.02859453595584416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9819534032933009, + -0.013881535269320011, + 0.18861300408003576, + -0.20047334081244897 + ], + [ + 0.019398692325512747, + 0.999435305595398, + -0.027436683648610165, + -0.03458550284166881 + ], + [ + -0.18812562927208615, + 0.03060038946568966, + 0.9816681684599229, + 0.02879069581258111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9817221638367217, + -0.013831784017384056, + 0.1898163021360849, + -0.20142877986368668 + ], + [ + 0.01937814166059949, + 0.9994368553161623, + -0.02739467621575944, + -0.034555680739697156 + ], + [ + -0.18933050019159425, + 0.030572248622775085, + 0.9814373924712106, + 0.028987158084902414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9814895248309086, + -0.013782033696770671, + 0.19101933188964737, + -0.20238418464605137 + ], + [ + 0.019357514083747408, + 0.9994384050369265, + -0.027352748392957572, + -0.034525757117797096 + ], + [ + -0.19053507714445955, + 0.030544096603989608, + 0.9812050967930424, + 0.02918386908157212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9812553691487178, + -0.013732288032770157, + 0.19222207104093667, + -0.2033395328460682 + ], + [ + 0.0193368188855942, + 0.9994399547576904, + -0.027310907970465887, + -0.03449573737474084 + ], + [ + -0.19173937266316957, + 0.030515938997268677, + 0.9809713396947295, + 0.02938082945829814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9810197565035695, + -0.013682547025382519, + 0.19342452488602546, + -0.20429485290095395 + ], + [ + 0.019316051853817937, + 0.9994415044784546, + -0.02726915213129402, + -0.03446561136737151 + ], + [ + -0.192943380426971, + 0.030487775802612305, + 0.9807361224359898, + 0.029578092315519982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9807826278101818, + -0.01363280788064003, + 0.19462668482788473, + -0.20525011097941842 + ], + [ + 0.019295212614145886, + 0.9994430541992188, + -0.027227482997109316, + -0.034435377084337485 + ], + [ + -0.19414710370263447, + 0.030459605157375336, + 0.9804994443514855, + 0.02977560696632726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9805440423963924, + -0.013583073392510418, + 0.19582855811812844, + -0.20620532628681348 + ], + [ + 0.019274303332503514, + 0.9994445443153384, + -0.027185896471087646, + -0.0344050461455384 + ], + [ + -0.19535052606459166, + 0.030431427061557777, + 0.9802612479426693, + 0.02997336989644195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.98030400013623, + -0.013533340767025948, + 0.1970301452883375, + -0.20716050807455652 + ], + [ + 0.019253321057826168, + 0.9994460940361023, + -0.027144391396580148, + -0.03437460675874514 + ], + [ + -0.1965536598442722, + 0.030403239652514458, + 0.98002159151649, + 0.030171436198258236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9800625021206824, + -0.013483613729476932, + 0.198231440940056, + -0.20811564293586313 + ], + [ + 0.019232271479379046, + 0.9994476437568667, + -0.027102976255940867, + -0.03434406549186673 + ], + [ + -0.19775649963875286, + 0.030375052243471153, + 0.9797804761727955, + 0.030369752503200502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.979819489963631, + -0.013433892279863358, + 0.1994324330254998, + -0.20907072061356358 + ], + [ + 0.019211153644800947, + 0.9994491338729858, + -0.02706164567513787, + -0.03431342405729963 + ], + [ + -0.19895903339580218, + 0.030346855521202087, + 0.979537843534333, + 0.030568317588785174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9795750220167553, + -0.013384170830249786, + 0.20063313361609245, + -0.21002577302183129 + ], + [ + 0.019189960046493867, + 0.99945068359375, + -0.027020399454907345, + -0.03428267529665962 + ], + [ + -0.20016127409406, + 0.030318651348352432, + 0.9792937517712141, + 0.03076718621111951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9793290409619385, + -0.013334454037249088, + 0.20183352552087236, + -0.21098076057363943 + ], + [ + 0.019168700584467183, + 0.9994521737098694, + -0.026979243289261098, + -0.03425182296023721 + ], + [ + -0.20136321496662565, + 0.03029044345021248, + 0.9790482022859122, + 0.030966303309642455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9790816632071496, + -0.013284740969538689, + 0.2030336343949969, + -0.2119357340640426 + ], + [ + 0.01914736896232004, + 0.9994537234306335, + -0.026938169121326266, + -0.034220862114092684 + ], + [ + -0.20256484559241592, + 0.03026222623884678, + 0.9788011363584406, + 0.0311657220408747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9788327723542036, + -0.013235030695796013, + 0.2042334343781794, + -0.21289062896874852 + ], + [ + 0.01912596923111941, + 0.9994552135467529, + -0.026897181951082965, + -0.03418981023473971 + ], + [ + -0.20376617777384592, + 0.03023400530219078, + 0.9785526124023217, + 0.031365339983228324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9785823703971382, + -0.013185326009988785, + 0.2054329160168201, + -0.21384550304494204 + ], + [ + 0.019104499875985583, + 0.9994567036628723, + -0.02685627843090437, + -0.034158640943640003 + ], + [ + -0.20496720133331187, + 0.030205773189663887, + 0.9783026325720936, + 0.03156531088092275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9783305143695779, + -0.01313562411814928, + 0.2066320976246325, + -0.21480030827028362 + ], + [ + 0.019082960930502175, + 0.9994582533836365, + -0.026815462504983918, + -0.034127383940461026 + ], + [ + -0.20616792226445696, + 0.030177537351846695, + 0.9780511955924367, + 0.03176548129983066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9780772043790185, + -0.013085926882922653, + 0.20783097859243765, + -0.2157550883831421 + ], + [ + 0.019061353604932035, + 0.9994597434997561, + -0.026774730245549536, + -0.03409600783657589 + ], + [ + -0.2073683280654252, + 0.030149294063448913, + 0.9777982431691103, + 0.0319659519647844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9778224417639486, + -0.013036231510341167, + 0.20902955262190595, + -0.21670981696819192 + ], + [ + 0.019039676120611547, + 0.9994612336158752, + -0.02673408598838684, + -0.034064540077742234 + ], + [ + -0.20856842396670558, + 0.03012104332447052, + 0.9775438351366953, + 0.03216667304426069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9775661689046288, + -0.012986541725695137, + 0.21022780413284672, + -0.21766448932282484 + ], + [ + 0.019017932293476137, + 0.9994627237319949, + -0.026693529048814488, + -0.034032972126472126 + ], + [ + -0.20976820753800787, + 0.030092788860201843, + 0.9772879720228257, + 0.03236764438016895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9773084434921228, + -0.012936853803694248, + 0.21142574827511643, + -0.21861913181521686 + ], + [ + 0.018996115642411087, + 0.999464213848114, + -0.026653055261746068, + -0.034001289592331854 + ], + [ + -0.2109676690458311, + 0.030064525082707405, + 0.9770305949414761, + 0.03256891701783418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9770492666903949, + -0.012887169606983662, + 0.21262337966544345, + -0.21957372312861553 + ], + [ + 0.01897423298677253, + 0.9994657039642334, + -0.02661266900006408, + -0.03396950498368475 + ], + [ + -0.2121668152826704, + 0.030036253854632378, + 0.9767717634142961, + 0.03277044049675161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.976788579876026, + -0.012837491929531097, + 0.21382068730858217, + -0.22052827685519907 + ], + [ + 0.018952283591284605, + 0.9994671940803528, + -0.026572370561371014, + -0.0339376162343191 + ], + [ + -0.21336564768460878, + 0.03000797890126705, + 0.9765114771216279, + 0.032972264403979726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9765264420933394, + -0.01278781145811081, + 0.21501768017744888, + -0.2214827801576816 + ], + [ + 0.01893026177156719, + 0.9994686841964722, + -0.026532159440868296, + -0.03390562207497039 + ], + [ + -0.21456415041313753, + 0.02997969463467598, + 0.9762496785133997, + 0.03317433835979896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9762627959588678, + -0.01273814029991627, + 0.21621434169429363, + -0.2224372243057763 + ], + [ + 0.01890817628694758, + 0.9994701743125918, + -0.02649203574349374, + -0.033873529946581354 + ], + [ + -0.2157623322756538, + 0.029951410368084914, + 0.9759864266892538, + 0.03337666260563189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9759977577420489, + -0.012688469141721725, + 0.2174106981344372, + -0.22339163232885514 + ], + [ + 0.01888601922399808, + 0.9994716644287109, + -0.02645199755931464, + -0.033841343703168485 + ], + [ + -0.21696019311743953, + 0.02992311120033264, + 0.9757217216839698, + 0.03357923609042812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9757312103237019, + -0.012638804502785206, + 0.21860672688047408, + -0.2243460008760555 + ], + [ + 0.018863797929678894, + 0.9994731545448303, + -0.026412047199819683, + -0.033809042511347115 + ], + [ + -0.21815773732464502, + 0.029894812032580376, + 0.9754555625004835, + 0.0337821137419097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9754631565359666, + -0.01258914452046156, + 0.21980241532527778, + -0.22530030818293711 + ], + [ + 0.018841509523368605, + 0.9994746446609497, + -0.026372179720572347, + -0.03377664256107443 + ], + [ + -0.2193549388139212, + 0.029866499826312065, + 0.9751878939156247, + 0.03398523916721302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9751937114844651, + -0.012539485469460487, + 0.22099779489547247, + -0.22625459847860885 + ], + [ + 0.018819152604723294, + 0.9994760751724243, + -0.02633240513204814, + -0.03374412652544663 + ], + [ + -0.22055181550839198, + 0.029838187620043755, + 0.9749187729874512, + 0.034188666317003034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9749227599965902, + -0.012489832006394863, + 0.222192834418607, + -0.22720882403038478 + ], + [ + 0.01879673023561916, + 0.9994775652885437, + -0.026292715237078764, + -0.03371151755979601 + ], + [ + -0.22174834983059957, + 0.02980986423790455, + 0.9746481425859668, + 0.03439234164664225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9746503021424915, + -0.012440181337296966, + 0.22338753355324195, + -0.22816299484107225 + ], + [ + 0.01877423804181955, + 0.9994789958000185, + -0.026253111179175493, + -0.033678803439942 + ], + [ + -0.22294456778042882, + 0.029781533405184753, + 0.974376119052103, + 0.03459627029836099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9743764541425994, + -0.012390530668199066, + 0.22458191877000014, + -0.22911714380957898 + ], + [ + 0.018751677518067875, + 0.9994804859161379, + -0.02621359467379417, + -0.03364598254866791 + ], + [ + -0.22414044280690942, + 0.029753196984529502, + 0.9741025861656405, + 0.034800498098236377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9741011002672157, + -0.012340889312326908, + 0.22577596135262418, + -0.23007123553614434 + ], + [ + 0.0187290555468407, + 0.9994819164276123, + -0.026174170001604578, + -0.0336130618893741 + ], + [ + -0.22533597263487756, + 0.029724856838583946, + 0.973827544445113, + 0.03500497558352422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9738242412422357, + -0.012291247956454757, + 0.2269696581240693, + -0.23102526381057475 + ], + [ + 0.018706365174651098, + 0.9994834065437319, + -0.026134831266723363, + -0.03358003997299683 + ], + [ + -0.22653118126415547, + 0.029696509242057807, + 0.9735511106945776, + 0.03520970461036859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9735459948808979, + -0.012241614051163197, + 0.2281630287976446, + -0.23197925841370262 + ], + [ + 0.018683611047631547, + 0.9994848370552063, + -0.026095581349505185, + -0.033546919608903845 + ], + [ + -0.22772603394284097, + 0.029668157920241356, + 0.97327317062138, + 0.03541468209419453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732662434155359, + -0.01219198014587164, + 0.22935605340239762, + -0.23293320865691067 + ], + [ + 0.01866078661761549, + 0.9994862675666809, + -0.02605641619053719, + -0.033513680716006224 + ], + [ + -0.2289205519772523, + 0.029639793559908867, + 0.9729937804505878, + 0.035619962324432444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9729850456870431, + -0.012142352759838104, + 0.23054874203360984, + -0.2338871120824088 + ], + [ + 0.018637900112136795, + 0.9994877576828003, + -0.026017341645539437, + -0.03348035852851413 + ], + [ + -0.2301147178038145, + 0.02961142733693123, + 0.9727128830740267, + 0.035825489931009924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9727023450237259, + -0.012092728167772293, + 0.23174107531566393, + -0.23484097129275067 + ], + [ + 0.018614946791173082, + 0.9994891881942749, + -0.02597835323224009, + -0.03344691289802877 + ], + [ + -0.23130853948495522, + 0.029583053663372993, + 0.9724305378366762, + 0.036031320273950285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.972418199325834, + -0.012043104507029057, + 0.23293306738264635, + -0.23579478081228636 + ], + [ + 0.01859192457528914, + 0.9994906187057495, + -0.025939449677469813, + -0.03341336567198473 + ], + [ + -0.23250201748992141, + 0.029554666951298714, + 0.9721467446295021, + 0.03623740171676582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9721326094639567, + -0.011993487365543846, + 0.23412471457514136, + -0.2367485441936988 + ], + [ + 0.018568840740926896, + 0.9994920492172243, + -0.025900644704557416, + -0.03337972188556094 + ], + [ + -0.23369514815537204, + 0.02952628582715989, + 0.9718615043318897, + 0.03644373193029288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9718455171226899, + -0.011943873949348927, + 0.23531600443404316, + -0.2377022638559655 + ], + [ + 0.018545692452810736, + 0.9994934797286987, + -0.0258619218886506, + -0.03334597192384798 + ], + [ + -0.23488791910315185, + 0.029497889801859856, + 0.9715747586166747, + 0.03665036156959438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9715569810464215, + -0.01189426239579916, + 0.23650694757656307, + -0.23865593393458098 + ], + [ + 0.018522476684736933, + 0.9994949102401733, + -0.025823284017250744, + -0.03331211495922827 + ], + [ + -0.23608034080512844, + 0.029469488188624382, + 0.9712865662711909, + 0.03685724362200571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.971267001213167, + -0.011844655498862267, + 0.23769754404987892, + -0.2396095555358029 + ], + [ + 0.018499196715938544, + 0.999496340751648, + -0.025784740022370804, + -0.03327816266187319 + ], + [ + -0.23727241344600997, + 0.02944107912480831, + 0.9709969272478723, + 0.03706437482724226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9709755210952058, + -0.011795052327215675, + 0.23888777405013328, + -0.24056313390687348 + ], + [ + 0.018475851863599888, + 0.9994977712631228, + -0.025746282542705643, + -0.033244094520529295 + ], + [ + -0.23846411711203802, + 0.02941266633570195, + 0.9707057850535797, + 0.03727180683123615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9706825989050043, + -0.01174545381218195, + 0.24007765045322485, + -0.241516662148113 + ], + [ + 0.0184524445380219, + 0.9994992017745972, + -0.02570791687880112, + -0.03320992955009309 + ], + [ + -0.23965546462585388, + 0.029384247958660126, + 0.9704131979218754, + 0.037479488503178275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9703882342688398, + -0.011695857159793377, + 0.24126717474830375, + -0.24247014597531377 + ], + [ + 0.018428970865734164, + 0.999500572681427, + -0.02566963837104684, + -0.03317566503426903 + ], + [ + -0.24084645767765156, + 0.029355822131037712, + 0.9701191654372822, + 0.03768741975051499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9700924279975374, + -0.011646265164017677, + 0.24245634362074717, + -0.24342359824459628 + ], + [ + 0.018405434176564574, + 0.9995020031929016, + -0.025631448255267, + -0.0331412886519212 + ], + [ + -0.2420370927300514, + 0.029327386990189552, + 0.9698236884735598, + 0.037895653212443155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.969795122815839, + -0.011596676893532276, + 0.24364514038041324, + -0.24437698402337285 + ], + [ + 0.018381833286811464, + 0.9995034337043762, + -0.025593345044374834, + -0.03310681128683307 + ], + [ + -0.24322735330095266, + 0.029298944398760796, + 0.9695267097115344, + 0.03810413615714172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9694963768320355, + -0.011547092348337173, + 0.24483357832631192, + -0.24533032518527234 + ], + [ + 0.018358169726925173, + 0.999504804611206, + -0.02555533425516238, + -0.03307224242097198 + ], + [ + -0.24441725250205296, + 0.02927049994468689, + 0.9692282873140666, + 0.038312867796199745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9691961323581765, + -0.011497509665787222, + 0.2460216424204674, + -0.24628361839097104 + ], + [ + 0.01833443870100125, + 0.9995062351226809, + -0.025517411475850415, + -0.03303755115211735 + ], + [ + -0.24560677531990954, + 0.029242044314742095, + 0.9689283635950963, + 0.038521900557191686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9688944484987241, + -0.011447933502495289, + 0.24720934202558487, + -0.24723686866470287 + ], + [ + 0.01831065033715014, + 0.9995076060295105, + -0.025479581974114242, + -0.03300276769893267 + ], + [ + -0.24679594586688244, + 0.029213588684797287, + 0.9686270554179996, + 0.03873118388555952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9685913257212472, + -0.011398359201848507, + 0.2483966753011527, + -0.24819006506736116 + ], + [ + 0.018286793018034455, + 0.9995090365409851, + -0.02544183345882219, + -0.03296788020207264 + ], + [ + -0.24798473291176146, + 0.029185118153691292, + 0.96832424772874, + 0.03894071665824844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9682867630799148, + -0.011348787695169449, + 0.2495836459331311, + -0.2491432333773242 + ], + [ + 0.018262875100321818, + 0.9995104074478149, + -0.025404179323421032, + -0.032932882826450745 + ], + [ + -0.2491731402853772, + 0.029156643897294998, + 0.9680199395521375, + 0.039150549671442963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9679807046412322, + -0.01129922177642584, + 0.25077023203312077, + -0.2500963307534191 + ], + [ + 0.018238894479890196, + 0.9995118379592898, + -0.025366614475849775, + -0.032897786328439635 + ], + [ + -0.25036118980473615, + 0.029128164052963264, + 0.9677142483543248, + 0.03936063405763327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9676732086057431, + -0.011249659582972527, + 0.251956446607018, + -0.25104939106291196 + ], + [ + 0.018214851796926886, + 0.9995132088661194, + -0.025329140813975068, + -0.03286258889702519 + ], + [ + -0.2515488507065958, + 0.029099680483341217, + 0.9674070589681283, + 0.0395709660649553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9673642168231323, + -0.011200102046132088, + 0.2531422764373209, + -0.2520024025294353 + ], + [ + 0.018190748132785966, + 0.9995145797729492, + -0.025291758196374838, + -0.03282728144404985 + ], + [ + -0.252736124339543, + 0.02907118946313858, + 0.9670983710490789, + 0.03978159772939457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9670537878952341, + -0.01115054450929165, + 0.2543277329648906, + -0.2529553577619595 + ], + [ + 0.01816657822049845, + 0.9995159506797793, + -0.025254464283528635, + -0.03279187197813607 + ], + [ + -0.25392303718893744, + 0.029042690992355354, + 0.9667883008816873, + 0.039992484117569456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9667419219430262, + -0.011100993491709232, + 0.25551281570246215, + -0.2539082680094019 + ], + [ + 0.018142348537785628, + 0.9995173811912537, + -0.025217257529712035, + -0.032756363991325865 + ], + [ + -0.2551095588435364, + 0.029014181345701218, + 0.9664767332021414, + 0.0402036169712223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9664286195286798, + -0.011051444336771965, + 0.25669752247317956, + -0.25486115374616203 + ], + [ + 0.018118053420569925, + 0.9995187520980835, + -0.025180141481970845, + -0.032720744709653235 + ], + [ + -0.25629570177000105, + 0.02898566983640194, + 0.9661637263602871, + 0.040415051140228773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9661138248443014, + -0.01100190170109272, + 0.2578818311367177, + -0.2558139699995112 + ], + [ + 0.018093702578427562, + 0.9995201230049133, + -0.025143119504743152, + -0.03268502761735335 + ], + [ + -0.25748145962493835, + 0.028957150876522064, + 0.9658492820330918, + 0.04062673464539521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9657975942803443, + -0.010952360928058624, + 0.2590657616096257, + -0.25676675607934374 + ], + [ + 0.01806928570812967, + 0.9995214939117432, + -0.02510618482188151, + -0.03264918790456297 + ], + [ + -0.25866682112152795, + 0.02892862632870674, + 0.9655333415631393, + 0.04083871959848453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9654798713534795, + -0.010902822948992254, + 0.26024929432788824, + -0.2577194592011385 + ], + [ + 0.018044807115710004, + 0.9995228648185732, + -0.025069342219843305, + -0.03261327302371625 + ], + [ + -0.25985179813065273, + 0.02890009433031083, + 0.9652159634686395, + 0.04105090047583915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9651607369482599, + -0.010853239335119724, + 0.2614325879985745, + -0.25867202672089207 + ], + [ + 0.018020217406259184, + 0.9995242357254028, + -0.025032572294287483, + -0.032577179526276784 + ], + [ + -0.26103650461366856, + 0.028871526941657066, + 0.964897055508397, + 0.04126347708160468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/orbit_right/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7de557bb5f00c57c69bb94641aef09808b6a0059 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/orbit_right/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999727796404724, + -0.0032555165234953165, + -0.00662472226150638, + -0.004497530061014292 + ], + [ + 0.003227312130708851, + 0.9999856948852539, + -0.004263678209764859, + -0.00467385963312337 + ], + [ + 0.006638508167996214, + 0.0042421817779541016, + 0.9999689498399, + -0.0005931168184314121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998937362281011, + -0.005377934314310551, + -0.013550895976756525, + -0.009020991945634969 + ], + [ + 0.005308762706420377, + 0.9999727010726929, + -0.0051353645992502, + -0.006012248072747038 + ], + [ + 0.013578143694757787, + 0.005062880460172892, + 0.9998949878393133, + -0.002003835572967873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998251578006384, + -0.010394159704446794, + -0.015543125453578641, + -0.009802745277906593 + ], + [ + 0.010128953411567412, + 0.999803423881531, + -0.017045113176078125, + -0.01791191300357768 + ], + [ + 0.015717239095088518, + 0.016884699463844303, + 0.9997339264747618, + 0.00023534127349229958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996627948331381, + -0.014360994100570679, + -0.02163441189041044, + -0.013951432385539832 + ], + [ + 0.013854468372246347, + 0.9996305704116821, + -0.023383712136563706, + -0.024572222012711302 + ], + [ + 0.021962231758078665, + 0.023076094686985016, + 0.999492437270279, + 2.7317437706927896e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994234388854124, + -0.018689326941967014, + -0.02834517990267992, + -0.018722178213815166 + ], + [ + 0.017832809317038404, + 0.9993855357170107, + -0.0301750038091691, + -0.03170119570418176 + ], + [ + 0.02889171480077109, + 0.02965213172137738, + 0.9991426240814772, + -0.00032835095660921733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991647100717591, + -0.02249216474592686, + -0.03411672808989455, + -0.02254404988466058 + ], + [ + 0.021258625529016174, + 0.9991220831871035, + -0.03609812518128098, + -0.03790661709360801 + ], + [ + 0.034898702576711, + 0.035342700779438026, + 0.9987657541787816, + -0.0006351331110818249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9991324425271906, + -0.02244180254638195, + -0.03508152011931113, + -0.021341647144446155 + ], + [ + 0.021174433110477862, + 0.9991242289543152, + -0.03608984015592619, + -0.037848545291473815 + ], + [ + 0.035860717252248445, + 0.03531569615006447, + 0.9987325886383802, + -0.0004255696928040008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990992602399281, + -0.022391442209482193, + -0.03604627882409012, + -0.0201392009421536 + ], + [ + 0.021090275091388597, + 0.9991262555122375, + -0.03608141395273289, + -0.0377905618719883 + ], + [ + 0.03682269809923776, + 0.03528868407011032, + 0.9986985735635855, + -0.00021627425894835714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9990651036280599, + -0.022341091185808182, + -0.037011004632850515, + -0.018936693233054264 + ], + [ + 0.02100616278195934, + 0.9991283416748047, + -0.03607285418737409, + -0.03773267049133472 + ], + [ + 0.0377846526137227, + 0.035261671990156174, + 0.9986635896966304, + -7.298779548645237e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990300322867228, + -0.022290736436843872, + -0.03797570088134585, + -0.0177341291577666 + ], + [ + 0.020922087052923474, + 0.9991304278373718, + -0.03606416084986991, + -0.03767487869808427 + ], + [ + 0.03874657669001661, + 0.03523464500904083, + 0.9986276966907212, + 0.0002013571319376894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998993986682051, + -0.02224038913846016, + -0.038940362279928316, + -0.01653150383333045 + ], + [ + 0.020838051723131863, + 0.999132513999939, + -0.036055341496810535, + -0.03761717903635651 + ], + [ + 0.0397084687724139, + 0.03520762547850609, + 0.9985908349680332, + 0.0004096930388399736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9989570264750538, + -0.022190045565366745, + -0.03990498670743741, + -0.015328837163932938 + ], + [ + 0.020754057294235396, + 0.9991346001625061, + -0.03604637012724664, + -0.037559571480013855 + ], + [ + 0.040670323023554736, + 0.03518058732151985, + 0.9985530642272165, + 0.0006177609887229878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989191517339095, + -0.02213970199227333, + -0.0408695714552554, + -0.014126112380722132 + ], + [ + 0.02067009996750273, + 0.9991366863250732, + -0.03603726911278923, + -0.037502052404960226 + ], + [ + 0.041632140468644864, + 0.03515353798866272, + 0.9985143844843044, + 0.0008255094237188971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9988803624214591, + -0.022089364007115364, + -0.04183412126464092, + -0.012923344393622612 + ], + [ + 0.020586185558427263, + 0.9991387128829956, + -0.03602803487649874, + -0.037444629198607506 + ], + [ + 0.04259392585767371, + 0.03512648865580559, + 0.9984747956907869, + 0.001032989295990425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9988405989720304, + -0.02203903160989285, + -0.04279863431003249, + -0.011720515544393163 + ], + [ + 0.02050231431117026, + 0.999140799045563, + -0.036018663774570865, + -0.03738729441164638 + ], + [ + 0.04355567737378471, + 0.035099435597658164, + 0.9984342382696278, + 0.0012401497330925808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.99879992108141, + -0.021988702937960628, + -0.043763106869244305, + -0.01051762871071069 + ], + [ + 0.020418484427868797, + 0.9991428256034853, + -0.03600916330522128, + -0.03733005927686172 + ], + [ + 0.04451739130347106, + 0.03507237136363984, + 0.9983927719052378, + 0.001446990210975694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987583287598087, + -0.021938370540738106, + -0.04472753995862934, + -0.009314702521947802 + ], + [ + 0.020334688907280168, + 0.9991449117660522, + -0.03599951850625696, + -0.037272912736312676 + ], + [ + 0.04547906494709439, + 0.03504529595375061, + 0.9983503966658064, + 0.0016535627329978403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987157624904223, + -0.021888047456741336, + -0.04569192969471693, + -0.008111695293541728 + ], + [ + 0.02025094063804514, + 0.9991469383239748, + -0.0359897483093575, + -0.037215873244810314 + ], + [ + 0.04644069815461201, + 0.035018220543861396, + 0.9983070529619213, + 0.0018597639160643671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.998672281799071, + -0.021837726235389713, + -0.046656281862965804, + -0.00690866747356814 + ], + [ + 0.020167232406494175, + 0.999149024486542, + -0.035979848928679885, + -0.0371589074182728 + ], + [ + 0.04740229672009724, + 0.03499114885926247, + 0.9982628003079899, + 0.0020657477957555037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.998627827246842, + -0.021787410601973534, + -0.0476205887248738, + -0.0057055607331925814 + ], + [ + 0.020083568433832782, + 0.9991510510444641, + -0.03596980561790033, + -0.03710204868407351 + ], + [ + 0.04836385049494822, + 0.03496405854821205, + 0.998217638925622, + 0.0022713607531205464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9985825180211746, + -0.021737094968557358, + -0.04858485384296407, + -0.00450241353724494 + ], + [ + 0.01999994309551001, + 0.9991530776023865, + -0.03595962950460166, + -0.03704527485546638 + ], + [ + 0.04932536285770615, + 0.03493696078658104, + 0.9981715091463473, + 0.0024767052865787742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9985362350306475, + -0.02168678492307663, + -0.04954907183258694, + -0.003299226662882595 + ], + [ + 0.019916362339925473, + 0.9991551637649536, + -0.03594931333930247, + -0.03698858580334543 + ], + [ + 0.05028683378565025, + 0.03490985557436943, + 0.9981245302256576, + 0.00268178217187711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998488978235887, + -0.02163648046553135, + -0.05051324537637475, + -0.0020959630614668934 + ], + [ + 0.019832822367928514, + 0.999157190322876, + -0.0359388682839612, + -0.036932007740227736 + ], + [ + 0.05124826335851567, + 0.03488274663686752, + 0.9980765829318192, + 0.0028864871775137147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9984408668973714, + -0.021586176007986072, + -0.05147737470419334, + -0.0008926570748965905 + ], + [ + 0.019749325407337513, + 0.9991592168807986, + -0.03592828701011487, + -0.03687551826340149 + ], + [ + 0.052209644957068695, + 0.03485562652349473, + 0.9980276674434502, + 0.0030909238709179608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.99839178194172, + -0.021535879001021385, + -0.05244145404006145, + 0.0003107068969898305 + ], + [ + 0.01966587134632067, + 0.9991612434387207, + -0.03591758076700501, + -0.036819117426396215 + ], + [ + 0.05317098476649202, + 0.03482850641012192, + 0.9979778432411002, + 0.0032950411287011898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983417233734884, + -0.021485578268766403, + -0.05340548420457271, + 0.0015141100287876796 + ], + [ + 0.01958245725495033, + 0.9991632699966431, + -0.03590672718266419, + -0.03676281272030418 + ], + [ + 0.05413227636373866, + 0.03480137139558792, + 0.9979271105124998, + 0.0034988898537504764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9982908103474153, + -0.021435288712382317, + -0.054369469543336324, + 0.0027175723698449096 + ], + [ + 0.019499090150596386, + 0.9991652965545654, + -0.03589574888624775, + -0.03670659285846619 + ], + [ + 0.05509352077380231, + 0.03477424383163452, + 0.9978754692502734, + 0.003702418813527071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9982389239175692, + -0.021384997293353084, + -0.05533340016538436, + 0.003921096109394069 + ], + [ + 0.01941576483320574, + 0.999167323112488, + -0.03588463834878218, + -0.03665048406398213 + ], + [ + 0.056054717193628686, + 0.034747101366519935, + 0.9978228598630193, + 0.003905627593740301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981860639141509, + -0.021334711462259293, + -0.056297282476622364, + 0.005124656810991571 + ], + [ + 0.019332481721096088, + 0.9991693496704102, + -0.035873388195495806, + -0.036594452799775336 + ], + [ + 0.05701586648342342, + 0.03471995145082474, + 0.9977693419683803, + 0.004108568459033658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981323497092379, + -0.021284429356455803, + -0.05726111376724696, + 0.0063282786660366006 + ], + [ + 0.019249246360439613, + 0.9991713762283325, + -0.035862006129615175, + -0.03653851383548835 + ], + [ + 0.05797696594444935, + 0.03469279408454895, + 0.9977149156654698, + 0.004311189724750086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9980776620857924, + -0.02123415283858776, + -0.05822489306371858, + 0.007531959714009322 + ], + [ + 0.019166053347385182, + 0.9991733431816101, + -0.0358504920523165, + -0.036482685988350076 + ], + [ + 0.05893801846298005, + 0.03466563671827316, + 0.9976595808725867, + 0.004513490817458148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9980220013565342, + -0.021183874458074573, + -0.05918861187870917, + 0.008735677443517179 + ], + [ + 0.01908289940139474, + 0.9991753697395327, + -0.03583883845980899, + -0.03642692839661129 + ], + [ + 0.05989900994388425, + 0.03463845700025559, + 0.9976032784466482, + 0.004715523767979241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997965486326243, + -0.02113360352814198, + -0.06015228464863201, + 0.009939458223391567 + ], + [ + 0.018999793766502227, + 0.9991773962974551, + -0.03582705319602242, + -0.03637128177095307 + ], + [ + 0.06085995640102811, + 0.034611277282238014, + 0.9975460674925335, + 0.004917236487002259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9979079982424458, + -0.021083334460854534, + -0.06111589697782467, + 0.01114329417631562 + ], + [ + 0.01891673476184419, + 0.9991793632507326, + -0.03581513628320725, + -0.03631572010611157 + ], + [ + 0.061820845470646105, + 0.034584097564220435, + 0.9974878888164596, + 0.005118629763882626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9978495368926512, + -0.021033067256212234, + -0.06207945527092346, + 0.012347168310052989 + ], + [ + 0.018833714980105644, + 0.9991813898086548, + -0.03580309124405727, + -0.03626025116288902 + ], + [ + 0.06278168813484906, + 0.03455691412091255, + 0.9974288613160203, + 0.005319754677529016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9977902217370076, + -0.02098280750215054, + -0.06304295574152273, + 0.013551101879620844 + ], + [ + 0.018750744483904017, + 0.9991833567619326, + -0.03579090361716536, + -0.036204881987343396 + ], + [ + 0.06374246788509527, + 0.03452971205115319, + 0.9973688663381579, + 0.005520559525178492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9977299334975002, + -0.02093254774808884, + -0.06400639849391541, + 0.014755097725650965 + ], + [ + 0.018667815290860285, + 0.999185383319855, + -0.03577859180554683, + -0.036149605524088295 + ], + [ + 0.06470319299533188, + 0.03450250998139382, + 0.9973079035811426, + 0.00572104428710207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9976687317850041, + -0.020882295444607738, + -0.06496978496745662, + 0.015959130167623452 + ], + [ + 0.018584935311642216, + 0.9991873502731325, + -0.03576614874219361, + -0.03609441400615718 + ], + [ + 0.0656638673934262, + 0.03447530791163445, + 0.9972460921972256, + 0.005921261138626989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.997606557418237, + -0.020832043141126633, + -0.06593310432758942, + 0.017163219081360218 + ], + [ + 0.01850209791869907, + 0.9991893768310547, + -0.03575355931409373, + -0.03603932256971252 + ], + [ + 0.06662447790311751, + 0.034448083490133286, + 0.9971833134349527, + 0.006121158033524738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975434696211769, + -0.020781796425580982, + -0.06689636744959059, + 0.018367348178737114 + ], + [ + 0.018419304386696114, + 0.9991913437843325, + -0.035740842282042225, + -0.03598431636015025 + ], + [ + 0.0675850290753013, + 0.03442086279392243, + 0.9971195671221612, + 0.006320786224370423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9974794686910947, + -0.020731551572680477, + -0.06785956790579746, + 0.019571554744523954 + ], + [ + 0.0183365587725814, + 0.9991933107376101, + -0.035727994166126646, + -0.03592941756496788 + ], + [ + 0.06854552336884073, + 0.034393627196550376, + 0.9970549724869864, + 0.006520043569320341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997414495066246, + -0.020681310445070267, + -0.06882270397114991, + 0.02077580066791406 + ], + [ + 0.018253859395413793, + 0.9991952776908875, + -0.03571501496804161, + -0.035874607651670325 + ], + [ + 0.069505956521199, + 0.034366391599178314, + 0.9969894104055212, + 0.006719032288602466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973486083544194, + -0.020631071180105213, + -0.06978577741173947, + 0.021980082943662743 + ], + [ + 0.01817120492530804, + 0.9991972446441653, + -0.035701897239239645, + -0.0358198829513163 + ], + [ + 0.07046633030652427, + 0.03433914855122567, + 0.9969229404736438, + 0.006917752582661765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.997281808437239, + -0.020580839365720752, + -0.07074879110389258, + 0.0231844257635846 + ], + [ + 0.01808859652986396, + 0.9991992115974428, + -0.03568865975103359, + -0.035765254686023075 + ], + [ + 0.0714266410165333, + 0.03431190177798272, + 0.9968555032051084, + 0.007116152540761724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.997214095915003, + -0.02053060941398144, + -0.07171173304013952, + 0.024388829198583352 + ], + [ + 0.018006037497326103, + 0.9992012381553652, + -0.03567527663000851, + -0.03571072261778943 + ], + [ + 0.07238688605125933, + 0.03428464755415917, + 0.9967872180909888, + 0.007314233316436665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9971454106890764, + -0.020480381324887276, + -0.07267461239704036, + 0.025593286472664484 + ], + [ + 0.017923519676555547, + 0.9992032051086426, + -0.035661766194407855, + -0.035656287242783434 + ], + [ + 0.07334706878669556, + 0.03425738215446472, + 0.9967179059531742, + 0.007511993346096757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9970758126276901, + -0.02043016068637371, + -0.07363742562037473, + 0.026797783697955366 + ], + [ + 0.017841056448618157, + 0.9992051124572754, + -0.03564812545831063, + -0.03560194418216158 + ], + [ + 0.07430718789522074, + 0.03423011675477028, + 0.9966477459009578, + 0.007709485393886049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9970052424686886, + -0.0203799419105053, + -0.07460016501310768, + 0.028002336428924676 + ], + [ + 0.017758635362618264, + 0.9992070794105532, + -0.03563434640328579, + -0.035547694053768196 + ], + [ + 0.0752672401917691, + 0.03420283645391465, + 0.9965766187486335, + 0.007906657670736192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9969337594188834, + -0.020329723134636882, + -0.07556284017352649, + 0.0292069308212852 + ], + [ + 0.0176762614036078, + 0.9992090463638308, + -0.03562044427464692, + -0.035493525519572855 + ], + [ + 0.07622722784205034, + 0.03417555615305901, + 0.9965045840785227, + 0.00810356131612663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9968613639399729, + -0.020279513671994213, + -0.07652544281732544, + 0.03041160045496428 + ], + [ + 0.01759393760571122, + 0.9992110133171084, + -0.0356064006576303, + -0.03543947189203056 + ], + [ + 0.07718714629000974, + 0.03414826467633248, + 0.9964316421486281, + 0.008300093859899998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967880557989863, + -0.02022930048406124, + -0.07748797768021749, + 0.03161628941236726 + ], + [ + 0.01751165777296494, + 0.9992129802703857, + -0.03559223020960342, + -0.03538549261437023 + ], + [ + 0.07814699655975145, + 0.03412096947431564, + 0.996357792921985, + 0.008496409053004965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9967137756554436, + -0.02017909660935402, + -0.07845043866485377, + 0.03282105209284041 + ], + [ + 0.017429428075685375, + 0.9992148876190186, + -0.03557792588086185, + -0.035331620873285674 + ], + [ + 0.07910678000095706, + 0.03409366309642792, + 0.9962829766341654, + 0.0086923531459279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9966385829850736, + -0.020128892734646797, + -0.07941283004961001, + 0.03402585632021565 + ], + [ + 0.017347243125931076, + 0.9992168545722961, + -0.03556348743778929, + -0.0352778309201091 + ], + [ + 0.08006649346110033, + 0.03406635299324989, + 0.9962072531689616, + 0.008888028806066971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9965624185708833, + -0.020078696310520172, + -0.08037514374775138, + 0.03523072098935791 + ], + [ + 0.017265109892089125, + 0.999218761920929, + -0.035548926549700884, + -0.035224148508017 + ], + [ + 0.08102612886195289, + 0.03403903543949127, + 0.9961305633095698, + 0.009083383740594515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9964853417729197, + -0.020028501749038696, + -0.08133738602756241, + 0.03643563639059554 + ], + [ + 0.017183023622566282, + 0.9992207288742065, + -0.03553423181958997, + -0.03517055898741007 + ], + [ + 0.08198569991736884, + 0.03401172161102295, + 0.9960529659676116, + 0.00927841915044051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9964073528844599, + -0.019978310912847522, + -0.08229955232657413, + 0.037640593240445164 + ], + [ + 0.017100986367434824, + 0.9992226362228396, + -0.03551940344075602, + -0.03511705481449712 + ], + [ + 0.08294519463533082, + 0.03398438915610314, + 0.9959744618688379, + 0.009473186150501434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9963284520996037, + -0.01992812380194664, + -0.08326163994239907, + 0.03884558410505628 + ], + [ + 0.017018998549583317, + 0.9992246031761169, + -0.035504437780643154, + -0.03506363597270063 + ], + [ + 0.08390461403996208, + 0.03395704925060272, + 0.9958950509750556, + 0.009667684799993886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9962485793091422, + -0.01987793669104576, + -0.08422365540114839, + 0.04005065730472282 + ], + [ + 0.016937055944215178, + 0.9992265105247498, + -0.03548934584255382, + -0.03501032887755328 + ], + [ + 0.08486396466508271, + 0.03392971307039261, + 0.9958146731649797, + 0.009861811604997524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961677950170341, + -0.01982775516808033, + -0.08518558664160886, + 0.04125576628563035 + ], + [ + 0.01685516477532658, + 0.9992284178733826, + -0.035474120624558424, + -0.03495710333601899 + ], + [ + 0.08582323445716147, + 0.033902358263731, + 0.9957333889304824, + 0.01005567026763069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9960860985879635, + -0.019777577370405197, + -0.08614744397358667, + 0.04246093144525838 + ], + [ + 0.016773323618642658, + 0.9992303848266602, + -0.03545875837940613, + -0.034903974346063064 + ], + [ + 0.08678243001641242, + 0.0338749960064888, + 0.9956511978688145, + 0.010249209463578282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9960034308618132, + -0.019727405160665512, + -0.08710921885609793, + 0.0436661302513682 + ], + [ + 0.016691533291142892, + 0.999232292175293, + -0.035443277903632685, + -0.03485093823344415 + ], + [ + 0.08774154652726762, + 0.033847637474536896, + 0.9955680405712314, + 0.010442479117462771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9959198513947553, + -0.019677232950925827, + -0.08807091429525153, + 0.044871392590082326 + ], + [ + 0.01660978962236494, + 0.9992341995239258, + -0.03542766032406426, + -0.03479799522271648 + ], + [ + 0.08870058700345065, + 0.033820271492004395, + 0.9954839765817866, + 0.01063542912514569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9958353009291747, + -0.01962706632912159, + -0.08903252347950777, + 0.04607670696186372 + ], + [ + 0.016528094416391463, + 0.9992361068725586, + -0.03541190956112239, + -0.03474515269504848 + ], + [ + 0.08965954503463172, + 0.033792894333601, + 0.9953990063503857, + 0.010828059082341733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9957498982177798, + -0.0195769015699625, + -0.08999405743718158, + 0.04728208512802384 + ], + [ + 0.01644645105747519, + 0.9992380142211914, + -0.03539603338912991, + -0.034692410479980576 + ], + [ + 0.09061842721871907, + 0.0337655134499073, + 0.9953131294387808, + 0.011020369231392609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9956635246768449, + -0.019526740536093712, + -0.09095550332365011, + 0.04848749471118437 + ], + [ + 0.016364858647358396, + 0.9992399215698242, + -0.03538002061985311, + -0.03463975744001785 + ], + [ + 0.09157722476354466, + 0.033738117665052414, + 0.9952262867183339, + 0.011212410661948722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995576180001859, + -0.01947658509016037, + -0.09191686567426624, + 0.04969295781845806 + ], + [ + 0.016283314991628176, + 0.999241828918457, + -0.03536387863842023, + -0.03458718633991826 + ], + [ + 0.09253594651741, + 0.033710721880197525, + 0.9951385373213179, + 0.01140413227111063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954879244019018, + -0.019426429644227028, + -0.09287813853221996, + 0.05089846190523409 + ], + [ + 0.016201822671676906, + 0.9992437362670898, + -0.0353476002318329, + -0.03453471189586836 + ], + [ + 0.09349457798525887, + 0.03368331864476204, + 0.9950498225420019, + 0.011595585422569861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.995398757283126, + -0.019376285374164585, + -0.09383933034339174, + 0.05210402178557094 + ], + [ + 0.016120384217618477, + 0.9992456436157229, + -0.03533120434120694, + -0.03448233402622321 + ], + [ + 0.09445313258144128, + 0.03365591168403626, + 0.9949602609445805, + 0.011786718385913513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9953086791369328, + -0.019326139241456985, + -0.09480043469210296, + 0.05330963937628737 + ], + [ + 0.016038995603171857, + 0.9992475509643555, + -0.03531467206830313, + -0.034430056698546256 + ], + [ + 0.09541159880708067, + 0.033628497272729874, + 0.9948697338555413, + 0.011977531219583141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9952176301942838, + -0.019275993108749393, + -0.0957614517417561, + 0.0545152933410888 + ], + [ + 0.01595765117294893, + 0.9992493987083437, + -0.03529800678288398, + -0.03437786176530991 + ], + [ + 0.09636997748920656, + 0.033601071685552604, + 0.9947782412232032, + 0.01216807543664721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9951256705445952, + -0.019225856289267543, + -0.0967223776563958, + 0.05572100490762298 + ], + [ + 0.01587636382720752, + 0.9992513060569765, + -0.03528121327649578, + -0.03432576692607489 + ], + [ + 0.09732827685922797, + 0.03357363864779473, + 0.9946859019825783, + 0.012358300128497517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9950327998439529, + -0.01917572133243084, + -0.09768321716500265, + 0.056926770295629356 + ], + [ + 0.015795130027195705, + 0.9992532134056091, + -0.03526429136214127, + -0.03427377246843968 + ], + [ + 0.09828648502829718, + 0.03354620561003685, + 0.9945925974982799, + 0.012548203608515227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9949389590545307, + -0.01912558451294899, + -0.09864396095011892, + 0.05813257365605161 + ], + [ + 0.015713938808517104, + 0.9992550611495972, + -0.03524724024163004, + -0.034221860658682636 + ], + [ + 0.09924460572766279, + 0.03351876512169838, + 0.9944983872785756, + 0.012737839615142162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9948442073911178, + -0.019075460731983185, + -0.09960461651390251, + 0.05933843257255873 + ], + [ + 0.015632809216678645, + 0.99925696849823, + -0.035230057768234756, + -0.034170041186260616 + ], + [ + 0.10020263700961647, + 0.03349132090806961, + 0.9944032116923941, + 0.012927154732684385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.99474854493422, + -0.01902533881366253, + -0.10056518301358892, + 0.060544347045150715 + ], + [ + 0.015551730604937431, + 0.999258816242218, + -0.035212739432483646, + -0.03411832980363782 + ], + [ + 0.10116057902202442, + 0.03346386179327965, + 0.9943071305330584, + 0.013116150272052096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9946519131413107, + -0.018975213170051575, + -0.10152564536915476, + 0.06175029736797921 + ], + [ + 0.015470696985932232, + 0.9992607235908508, + -0.03519529227952121, + -0.03406670099256527 + ], + [ + 0.10211842536189716, + 0.03343639522790909, + 0.9942101443464253, + 0.013304877170709998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9945544295145249, + -0.018925096839666367, + -0.1024860292924042, + 0.06295630987145318 + ], + [ + 0.015389720901936957, + 0.9992625713348389, + -0.035177724896832366, + -0.034015172413561084 + ], + [ + 0.10307619190064714, + 0.03340892866253853, + 0.9941122518204585, + 0.013493284246839937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9944559172058058, + -0.018874982371926308, + -0.10344630402769897, + 0.06416236980765505 + ], + [ + 0.01530879666875665, + 0.9992644190788269, + -0.03516001819590185, + -0.03396373703856904 + ], + [ + 0.10403385786763657, + 0.03338145092129707, + 0.9940133948856461, + 0.01368137130326863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9943565540185807, + -0.018824871629476547, + -0.10440648936597152, + 0.06536847340082146 + ], + [ + 0.015227925066792264, + 0.9992663264274597, + -0.035142187269945134, + -0.033912394892630406 + ], + [ + 0.10499143295310567, + 0.03335396945476532, + 0.9939136325530841, + 0.013869189452162327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9942562211117301, + -0.018774762749671936, + -0.10536657608291085, + 0.0665746272603765 + ], + [ + 0.0151471050557871, + 0.9992681741714478, + -0.03512422462292378, + -0.03386114234372772 + ], + [ + 0.10594891446691555, + 0.03332647681236267, + 0.99381296506407, + 0.014056688013954294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9941549190828898, + -0.018724659457802773, + -0.10632655757517784, + 0.06778083498249875 + ], + [ + 0.015066340204249087, + 0.9992700219154358, + -0.03510613438079933, + -0.033809990303728395 + ], + [ + 0.10690629443810161, + 0.03329898416996002, + 0.9937113332985934, + 0.014243864972782388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994052765947322, + -0.018674559891223907, + -0.10728645277608867, + 0.06898708822637213 + ], + [ + 0.014985629165776131, + 0.9992718696594238, + -0.03508791276279358, + -0.0337589277278508 + ], + [ + 0.10786358275019342, + 0.03327148035168648, + 0.9936087962291867, + 0.014430774226271648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9939496438909626, + -0.01862446404993534, + -0.10824624093946662, + 0.0701933877552619 + ], + [ + 0.014904968417635512, + 0.9992737174034119, + -0.035069559522483855, + -0.0337079661405012 + ], + [ + 0.10882077671326676, + 0.033243972808122635, + 0.9935053540995878, + 0.014617364512778728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938456122190533, + -0.018574370071291927, + -0.10920592836135634, + 0.07139974809081258 + ], + [ + 0.01482436302769772, + 0.9992755651474001, + -0.0350510826722351, + -0.033657093972524 + ], + [ + 0.1097778644519831, + 0.033216454088687904, + 0.9934009481521927, + 0.014803632404336535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.993740610993275, + -0.018524279817938805, + -0.11016551607760418, + 0.07260613944341622 + ], + [ + 0.01474381164971718, + 0.9992774128913879, + -0.03503247842585073, + -0.03360631881164036 + ], + [ + 0.11073486714954389, + 0.03318893536925316, + 0.9932956961594649, + 0.01498963377133455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9936346999999625, + -0.018474197015166283, + -0.11112500494815708, + 0.07381258397839191 + ], + [ + 0.014663315159126573, + 0.999279260635376, + -0.03501373945716493, + -0.03355562940591716 + ], + [ + 0.11169175992742429, + 0.033161409199237823, + 0.9931894208477098, + 0.015175313273839712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9935278802157075, + -0.01842411234974861, + -0.11208438486031892, + 0.07501909484977293 + ], + [ + 0.014582871191611427, + 0.999281108379364, + -0.03499487309962772, + -0.033505048387100694 + ], + [ + 0.11264855672292064, + 0.033133868128061295, + 0.9930823005235696, + 0.015360673951045936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9934200915378238, + -0.01837403140962124, + -0.11304365850867733, + 0.07622563273691788 + ], + [ + 0.014502478426635077, + 0.9992828965187073, + -0.034975875551727126, + -0.033454549830266724 + ], + [ + 0.11360524727875135, + 0.03310632333159447, + 0.9929742164301956, + 0.015545765261364565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9933114527203986, + -0.018323954194784164, + -0.11400283646007366, + 0.07743223128735525 + ], + [ + 0.014422143741770007, + 0.9992847442626953, + -0.03495675503494371, + -0.03340415176411429 + ], + [ + 0.11456184007582014, + 0.03307878226041794, + 0.992865227637036, + 0.015730536373419243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9932017860747681, + -0.018273886293172836, + -0.11496189861447541, + 0.07863887887877752 + ], + [ + 0.01434186617745426, + 0.9992865920066833, + -0.034937504054831446, + -0.03335384682878178 + ], + [ + 0.11551832871881623, + 0.03305122256278992, + 0.9927553347743359, + 0.015914988384508815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9930912696654876, + -0.018223818391561508, + -0.11592086153613014, + 0.07984556853173748 + ], + [ + 0.014261640359013936, + 0.9992884397506714, + -0.034918122155115035, + -0.03330362813200284 + ], + [ + 0.11647471385708591, + 0.0330236591398716, + 0.9926444778911409, + 0.016099171075264207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9929797849691588, + -0.01817375235259533, + -0.11687971258614412, + 0.08105231277834796 + ], + [ + 0.014181471283674144, + 0.9992902278900146, + -0.03489861739254063, + -0.03325351386703159 + ], + [ + 0.11743099304454432, + 0.03299609199166298, + 0.9925327171344956, + 0.016283033138693885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.992867391591848, + -0.018123690038919452, + -0.11783845493763603, + 0.08225908951368693 + ], + [ + 0.01410135544758737, + 0.9992920756340029, + -0.03487897076678577, + -0.03320348200876189 + ], + [ + 0.11838716730172757, + 0.032968509942293174, + 0.9924200524159346, + 0.016466627376062734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9927540297785002, + -0.018073633313179016, + -0.11879708718265292, + 0.0834659373004931 + ], + [ + 0.014021295952271154, + 0.999293863773346, + -0.03485920887713791, + -0.03315356961176463 + ], + [ + 0.11934323152195354, + 0.032940931618213654, + 0.9923064243506594, + 0.016649848870055155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9926397598897111, + -0.018023576587438587, + -0.1197556052133485, + 0.08467280073517588 + ], + [ + 0.013941288924137594, + 0.9992957115173342, + -0.03483931641835207, + -0.033103717458464674 + ], + [ + 0.12029919520714033, + 0.03291334211826325, + 0.9921919518070641, + 0.01683285502072113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9925245810700692, + -0.017973529174923897, + -0.12071401745319295, + 0.08587974302338963 + ], + [ + 0.013861343811709998, + 0.9992974996566772, + -0.03481929445072476, + -0.03305398421109511 + ], + [ + 0.12125504080258227, + 0.03288574889302254, + 0.9920764568403202, + 0.017015487021216108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9924084938071109, + -0.01792348176240921, + -0.1216723193565058, + 0.0870867213750174 + ], + [ + 0.013781451932771013, + 0.9992992877960205, + -0.03479913839569877, + -0.033004337264363054 + ], + [ + 0.12221078604918174, + 0.032858140766620636, + 0.9919601173890018, + 0.017197852422505766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9922914389446773, + -0.017873438075184822, + -0.12263050369706677, + 0.08829375367960218 + ], + [ + 0.013701615194144019, + 0.9993010759353638, + -0.03477886725618306, + -0.03295478023265727 + ], + [ + 0.12316641383218452, + 0.03283053636550903, + 0.9918428154011968, + 0.017379896226238152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9921734757637035, + -0.01782339997589588, + -0.12358857681718448, + 0.08950083680811567 + ], + [ + 0.01362183759988395, + 0.9993029236793518, + -0.034758462807135466, + -0.03290533502519421 + ], + [ + 0.12412193698288498, + 0.032802924513816833, + 0.9917246094517274, + 0.017561620390172148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9920545453244596, + -0.01777336187660694, + -0.12454652950923496, + 0.09070795688219607 + ], + [ + 0.013542112570229354, + 0.9993047118186951, + -0.03473793564984508, + -0.032855968884878045 + ], + [ + 0.12507734726092057, + 0.03277530148625374, + 0.9916055004373165, + 0.017743076279683967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9919347661369936, + -0.0177233275026083, + -0.1255043748266173, + 0.09191513232248635 + ], + [ + 0.013462445614718214, + 0.9993064999580383, + -0.03471727146682062, + -0.03280670357041074 + ], + [ + 0.1260326391049408, + 0.032747674733400345, + 0.9914854290193795, + 0.017924211545767146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9918140196147196, + -0.017673300579190258, + -0.12646210068386468, + 0.09312234267809792 + ], + [ + 0.013382838567599892, + 0.9993082880973818, + -0.03469648928278847, + -0.032757524050519016 + ], + [ + 0.12698782368689596, + 0.03272004052996636, + 0.991364453931552, + 0.01810507840402026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9916923065119703, + -0.01762327365577221, + -0.1274197004937578, + 0.09432960273860702 + ], + [ + 0.013303282567805868, + 0.9993100762367249, + -0.03467556943613364, + -0.03270843875520401 + ], + [ + 0.12794288999315215, + 0.03269239515066147, + 0.9912425764118935, + 0.018285624623581118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9915696854505884, + -0.017573250457644463, + -0.12837718647624854, + 0.09553691892902354 + ], + [ + 0.013223787236353986, + 0.9993118643760681, + -0.0346545280770997, + -0.032659457857321106 + ], + [ + 0.12889783874537142, + 0.032664746046066284, + 0.991119736408161, + 0.018465850365968487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.991446157067128, + -0.017523229122161865, + -0.12933455316521822, + 0.09674429131865782 + ], + [ + 0.013144348890874003, + 0.9993136525154114, + -0.0346333498681435, + -0.03261057432338995 + ], + [ + 0.12985267020497426, + 0.032637085765600204, + 0.9909959938870729, + 0.01864575552542869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9913217207244246, + -0.017473215237259865, + -0.13029180619760614, + 0.0979517011841301 + ], + [ + 0.013064967432715851, + 0.9993154406547546, + -0.03461205362013359, + -0.032561773336487146 + ], + [ + 0.1308073918662469, + 0.032609425485134125, + 0.9908713479890001, + 0.018825393910625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9911963184134244, + -0.017423205077648163, + -0.13124892851317535, + 0.0991591603862031 + ], + [ + 0.012985647144747316, + 0.9993171691894531, + -0.034590636162271635, + -0.03251307677834088 + ], + [ + 0.13176199364558194, + 0.03258176147937775, + 0.9907457998878266, + 0.019004710563293437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9910700091441222, + -0.01737319864332676, + -0.1322059288896741, + 0.10036665331037518 + ], + [ + 0.012906381665926956, + 0.9993189573287964, + -0.03456908932374548, + -0.03246446305865807 + ], + [ + 0.13271646860220399, + 0.03255408629775047, + 0.990619290401541, + 0.019183758332977998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9909427921496019, + -0.01732319034636021, + -0.13316281388659026, + 0.10157420778213411 + ], + [ + 0.012827173030787287, + 0.9993207454681399, + -0.03454741341226341, + -0.03241595060982439 + ], + [ + 0.13367083205743768, + 0.03252640739083291, + 0.9904918777379574, + 0.019362486593993432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9908146093619026, + -0.01727319322526455, + -0.13411956717733514, + 0.1027818056552575 + ], + [ + 0.012748026523263522, + 0.9993225336074829, + -0.034525612889950874, + -0.03236753139378447 + ], + [ + 0.13462506584199463, + 0.03249872103333473, + 0.9903635040402191, + 0.01954089368109768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9906855195295632, + -0.017223196104168892, + -0.1350761995816586, + 0.10398944451593338 + ], + [ + 0.012668936724942088, + 0.9993242621421814, + -0.03450367217114215, + -0.032319206073505 + ], + [ + 0.13557918801219157, + 0.03247101977467537, + 0.9902342872147373, + 0.019719033461555197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9905554639487227, + -0.017173198983073238, + -0.13603270019320404, + 0.10519713021798784 + ], + [ + 0.012589904363121218, + 0.9993260502815249, + -0.03448161768379358, + -0.03227097463456626 + ], + [ + 0.13653318241764675, + 0.032443314790725715, + 0.9901041091424719, + 0.0198968522620383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9904245609464264, + -0.017123209312558174, + -0.1369890836218697, + 0.10640487714167152 + ], + [ + 0.012510931412111586, + 0.9993277788162231, + -0.034459434733731295, + -0.03222284430755479 + ], + [ + 0.13748704895657146, + 0.03241560608148575, + 0.9899729698402101, + 0.02007435017404559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902926922199997, + -0.01707322709262371, + -0.13794533530030428, + 0.10761267447478033 + ], + [ + 0.012432021287227172, + 0.9993295669555664, + -0.034437127580413986, + -0.03217481098152331 + ], + [ + 0.13844080052627677, + 0.03238789737224579, + 0.9898409878348853, + 0.02025152853500167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9901598580271016, + -0.0170232392847538, + -0.13890145327175676, + 0.10882050155024346 + ], + [ + 0.012353162158539753, + 0.9993312954902649, + -0.03441468730421708, + -0.03212687243598141 + ], + [ + 0.13939442058862522, + 0.032360173761844635, + 0.9897080450639048, + 0.020428438155499603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9900261769968574, + -0.016973262652754784, + -0.13985744976303366, + 0.11002837131836071 + ], + [ + 0.012274368965099737, + 0.9993330240249634, + -0.03439213088139147, + -0.03207901195270648 + ], + [ + 0.1403479156717418, + 0.03233245015144348, + 0.9895742007892587, + 0.020605079064470486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9898915307618454, + -0.01692328415811062, + -0.14081331074253106, + 0.11123630888608757 + ], + [ + 0.012195630822924089, + 0.9993348121643066, + -0.034369441986055606, + -0.03203126445702952 + ], + [ + 0.14130127917409613, + 0.032304711639881134, + 0.989439395771194, + 0.02078134712686484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9897559193488016, + -0.016873311251401905, + -0.1417690361018301, + 0.11244427772333043 + ], + [ + 0.012116954837211192, + 0.9993365406990053, + -0.03434662535625937, + -0.03198360301277298 + ], + [ + 0.14225452451212375, + 0.032276969403028495, + 0.9893037484785236, + 0.02095734735369204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9896194607374182, + -0.016823343932628635, + -0.14272464307419705, + 0.11365230785287467 + ], + [ + 0.012038340221046296, + 0.9993382692337038, + -0.03432368848582008, + -0.03193603892985749 + ], + [ + 0.14320763057654662, + 0.03224922344088555, + 0.9891670813385822, + 0.021133026808383564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.989482037687129, + -0.01677337847650051, + -0.1436801089271109, + 0.1148603654612835 + ], + [ + 0.011959784414922736, + 0.9993399977684021, + -0.034300623603651305, + -0.03188856512517163 + ], + [ + 0.1441606149674304, + 0.032221466302871704, + 0.9890295723883819, + 0.021308438197557993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9893437090695314, + -0.01672341860830784, + -0.14463544327676692, + 0.11606847953935687 + ], + [ + 0.011881290801978504, + 0.9993417263031006, + -0.03427743498944913, + -0.03184118491987839 + ], + [ + 0.14511346406434328, + 0.032193709164857864, + 0.9888911031897253, + 0.021483528164912263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9892044160605802, + -0.016673460602760315, + -0.1455906364211722, + 0.11727664222931342 + ], + [ + 0.011802853159735473, + 0.9993434548377991, + -0.034254114371860336, + -0.03179391035384204 + ], + [ + 0.14606618201476862, + 0.03216593712568283, + 0.988751733326021, + 0.021658298755591988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9890642175044707, + -0.01662350445985794, + -0.14654569810465534, + 0.11848483887729336 + ], + [ + 0.01172447706596895, + 0.9993451833724976, + -0.03423067760254971, + -0.031746718374469775 + ], + [ + 0.14701877075761055, + 0.0321381650865078, + 0.9886114625439718, + 0.021832800630146355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9889231141524603, + -0.016573552042245865, + -0.14750062287573107, + 0.11969309005471598 + ], + [ + 0.011646163341835098, + 0.999346911907196, + -0.034207106077073, + -0.03169962381617794 + ], + [ + 0.1479712186225999, + 0.03211038187146187, + 0.9884702322799074, + 0.022006981142973895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9887810460774006, + -0.016523605212569237, + -0.14845540914382044, + 0.12090139128766586 + ], + [ + 0.011567908313892915, + 0.9993486404418945, + -0.034183414407966496, + -0.03165263465775139 + ], + [ + 0.1489235401028507, + 0.03208259493112564, + 0.988328100713732, + 0.0221808423363354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9886380736102583, + -0.016473662108182907, + -0.14941005577443925, + 0.12210972924442368 + ], + [ + 0.011489717674853201, + 0.999350368976593, + -0.034159603456637516, + -0.03160572780791669 + ], + [ + 0.14987572421849238, + 0.032054804265499115, + 0.9881850693550885, + 0.022354434056298465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9884941961175152, + -0.01642372272908688, + -0.15036456746666998, + 0.12331812245265394 + ], + [ + 0.011411586267666333, + 0.999352037906647, + -0.03413565754371956, + -0.0315589152022082 + ], + [ + 0.1508277756754421, + 0.0320270024240017, + 0.9880411375633799, + 0.022527706535027704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9883493549636598, + -0.016373785212635994, + -0.1513189332090253, + 0.1245265617529642 + ], + [ + 0.011333518791190095, + 0.9993537664413452, + -0.03411158492133994, + -0.03151221112579593 + ], + [ + 0.15177968531339847, + 0.03199918940663338, + 0.9878962464356992, + 0.02270065799236152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9882036089239514, + -0.01632385142147541, + -0.15227316313187186, + 0.12573503380731302 + ], + [ + 0.011255508319263112, + 0.9993554949760437, + -0.034087395975778326, + -0.031465590495453 + ], + [ + 0.15273146142459404, + 0.03197137638926506, + 0.9877504549964763, + 0.022873340625090784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9880569593105342, + -0.016273923218250275, + -0.15322724810069496, + 0.1269435639163624 + ], + [ + 0.011177562115471471, + 0.9993571639060974, + -0.03406308052297873, + -0.0314190746996946 + ], + [ + 0.15368308826596438, + 0.031943559646606445, + 0.9876037052850732, + 0.02304570119705158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.987909405075349, + -0.01622399501502514, + -0.1541811955778239, + 0.12815214913278547 + ], + [ + 0.011099678516067414, + 0.9993588924407959, + -0.034038638405796316, + -0.03137264165866433 + ], + [ + 0.1546345883158579, + 0.031915731728076935, + 0.9874561145185858, + 0.023217744218903092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9877608876281997, + -0.01617407612502575, + -0.1551349942944736, + 0.12936076234453547 + ], + [ + 0.011021859007958597, + 0.9993605613708496, + -0.034014073682435954, + -0.03132630609106853 + ], + [ + 0.15558594376095441, + 0.03188789635896683, + 0.9873075648207497, + 0.023389517540379618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9876114072634978, + -0.01612415537238121, + -0.15608864229915226, + 0.13056942107115704 + ], + [ + 0.010944095846010372, + 0.9993622899055481, + -0.0339893890650307, + -0.031280076600463676 + ], + [ + 0.1565371526556081, + 0.03186005726456642, + 0.987158056472788, + 0.023560969788185594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9874610820720491, + -0.01607424020767212, + -0.1570421559975749, + 0.13177814334981786 + ], + [ + 0.010866399283550729, + 0.9993639588356018, + -0.03396456729925235, + -0.03123393688371077 + ], + [ + 0.15748822956873618, + 0.03183220326900482, + 0.9870077078247359, + 0.023732102717171997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9873097942526954, + -0.016024328768253326, + -0.15799551718373428, + 0.13298689145807485 + ], + [ + 0.010788764400440343, + 0.9993656277656555, + -0.03393963033398068, + -0.031187883920895453 + ], + [ + 0.15843915630101937, + 0.03180435672402382, + 0.9868564010682882, + 0.02390296597965439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9871576029152197, + -0.01597442291676998, + -0.15894873367525786, + 0.13419569726458697 + ], + [ + 0.010711194288102688, + 0.999367356300354, + -0.03391457117654779, + -0.03114193221286572 + ], + [ + 0.15938993367205495, + 0.03177649527788162, + 0.9867041360851528, + 0.02407350836889329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9870044492622042, + -0.015924515202641487, + -0.15990179572565474, + 0.13540452771277656 + ], + [ + 0.01063368433814899, + 0.9993690252304077, + -0.03388937791080878, + -0.031096063891322048 + ], + [ + 0.16034057663953966, + 0.03174862265586853, + 0.9865510311765495, + 0.024243783140247548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9868504511707253, + -0.01587461680173874, + -0.16085472117855243, + 0.13661344231606004 + ], + [ + 0.01055624115875379, + 0.9993706941604614, + -0.0338640704466085, + -0.031050315209471206 + ], + [ + 0.16129106937915824, + 0.03172075003385544, + 0.9863969681735735, + 0.024413684781716505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9866954318607107, + -0.01582472026348114, + -0.16180748319162339, + 0.1378223724242597 + ], + [ + 0.01047885865642499, + 0.9993723630905151, + -0.03383864040414472, + -0.03100464616632824 + ], + [ + 0.16224141898739342, + 0.031692877411842346, + 0.9862420062847004, + 0.02458331839318962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9865395689520048, + -0.01577482372522354, + -0.16276010325467305, + 0.13903134857821473 + ], + [ + 0.010401539058269087, + 0.9993740320205688, + -0.03381308065684977, + -0.030959063946930848 + ], + [ + 0.16319161276904073, + 0.03166498988866806, + 0.986086087158117, + 0.024752683065923306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9863827442010422, + -0.01572493650019169, + -0.16371256607013485, + 0.14024036852880215 + ], + [ + 0.010324285438402981, + 0.9993757009506226, + -0.03378740306522182, + -0.030913586709516154 + ], + [ + 0.16414166988224219, + 0.031637098640203476, + 0.985929328463885, + 0.024921727668316816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.986225017094174, + -0.01567504927515984, + -0.1646648770831789, + 0.14144944689300137 + ], + [ + 0.010247094161129336, + 0.9993773698806765, + -0.03376159583365224, + -0.030868203919051106 + ], + [ + 0.16509157030418328, + 0.031609192490577705, + 0.9857716126771969, + 0.025090451534939058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9860663280330366, + -0.015625163912773136, + -0.1656170316814897, + 0.14265856687762982 + ], + [ + 0.010169965176452345, + 0.9993790388107302, + -0.033735666565559375, + -0.030822926780261755 + ], + [ + 0.1660413166932052, + 0.031581286340951926, + 0.9856129393821351, + 0.02525885335454339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9859067953473849, + -0.015575285069644455, + -0.1665690448020111, + 0.14386773389673052 + ], + [ + 0.010092903250766503, + 0.9993807077407839, + -0.03370961609064662, + -0.030777735961879507 + ], + [ + 0.16699092583229808, + 0.03155337274074555, + 0.9854534266086419, + 0.02542698896692767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9857462431733053, + -0.015525411814451221, + -0.16752088384306146, + 0.14507693318177312 + ], + [ + 0.010015906120708344, + 0.9993823766708376, + -0.03368344790625706, + -0.030732635564898695 + ], + [ + 0.1679403727135115, + 0.031525462865829475, + 0.9852929576285145, + 0.025594802910789746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9855848482585342, + -0.01547553762793541, + -0.1684725760608941, + 0.1462861972758184 + ], + [ + 0.00993897079637951, + 0.9993840456008911, + -0.033657146517296586, + -0.030687641077658957 + ], + [ + 0.168889658156307, + 0.0314975269138813, + 0.9851315323224905, + 0.025762294514733896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9854224918647404, + -0.015425669960677624, + -0.16942410905817307, + 0.14749549234026982 + ], + [ + 0.009862103045062649, + 0.9993856549263, + -0.03363072424525159, + -0.03064273667280024 + ], + [ + 0.16983880576874996, + 0.031469590961933136, + 0.9849692676343105, + 0.025929520689191386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9852592335788503, + -0.015375804156064987, + -0.17037548774976952, + 0.14870483339983873 + ], + [ + 0.009785298435782524, + 0.9993873238563538, + -0.03360418045270538, + -0.03059792310286364 + ], + [ + 0.1707877938348391, + 0.03144165500998497, + 0.9848060463109444, + 0.02609642510984963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9850950738476051, + -0.015325943008065224, + -0.1713267094638079, + 0.14991421676920125 + ], + [ + 0.009708558659697365, + 0.9993889331817627, + -0.03357751171451686, + -0.03055320388506983 + ], + [ + 0.17173662734210107, + 0.03141370788216591, + 0.9846419279325103, + 0.026263060346603667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9849299538676667, + -0.015276085585355759, + -0.17227776453662622, + 0.15112363926679073 + ], + [ + 0.00963188604213061, + 0.9993906021118164, + -0.03355072226735182, + -0.030508574936668635 + ], + [ + 0.17268529847084635, + 0.03138575330376625, + 0.9844768533837261, + 0.026429374818523078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9847639326109169, + -0.015226231887936596, + -0.17322866175578747, + 0.15233312069096025 + ], + [ + 0.009555276459868308, + 0.9993922114372256, + -0.03352381528410519, + -0.030464055582713357 + ], + [ + 0.17363382399080057, + 0.0313577950000763, + 0.9843109407209939, + 0.026595369836602004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9845970105355968, + -0.015176380053162575, + -0.1741793984513678, + 0.15354265549493581 + ], + [ + 0.009478734991187258, + 0.999393880367279, + -0.03349677280254655, + -0.03041963768531098 + ], + [ + 0.17458218351171384, + 0.03132982179522514, + 0.9841440724934856, + 0.026761044239980436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9844291277856742, + -0.01512653473764658, + -0.1751299711949091, + 0.1547522140842708 + ], + [ + 0.009402258418005606, + 0.999395489692688, + -0.033469620804023534, + -0.03037529931614999 + ], + [ + 0.17553038152351125, + 0.03130185231566429, + 0.9839762479444151, + 0.026926448754773746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9842603448490485, + -0.015076691284775734, + -0.17608037978358748, + 0.1559618250349525 + ], + [ + 0.009325845990794595, + 0.9993971586227417, + -0.03344234790554089, + -0.030331055614011893 + ], + [ + 0.17647842967305116, + 0.03127387538552284, + 0.9838075860002394, + 0.02709153445701546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9840906025127188, + -0.015026850625872612, + -0.17703061698710207, + 0.15717146615501518 + ], + [ + 0.009249500052469951, + 0.9993987679481506, + -0.033414947021604975, + -0.030286910004556734 + ], + [ + 0.1774263090210433, + 0.031245891004800797, + 0.9836379689687736, + 0.027256350267216328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9839200182772753, + -0.014977015554904938, + -0.1779807029694177, + 0.15838116388893195 + ], + [ + 0.009173222278849319, + 0.9994003772735596, + -0.03338742607736273, + -0.030242858471327478 + ], + [ + 0.1783740213015545, + 0.031217899173498154, + 0.983467396553301, + 0.027420844244990562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9837484749685875, + -0.014927184209227562, + -0.17893061577282432, + 0.1595909102909143 + ], + [ + 0.009097010998445359, + 0.9994019865989685, + -0.03335978486715626, + -0.03019890506553787 + ], + [ + 0.17932158314160762, + 0.031189901754260063, + 0.9832959868532231, + 0.027585019032870337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9835759723735361, + -0.014877352863550186, + -0.17988035666572694, + 0.1608006799699597 + ], + [ + 0.009020864630784572, + 0.9994035959243774, + -0.03333201184782109, + -0.030155046462844098 + ], + [ + 0.1802689770489607, + 0.031161891296505928, + 0.9831236219121343, + 0.027748925693829786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9834026287249198, + -0.014827528968453407, + -0.180829941610583, + 0.16201053245828034 + ], + [ + 0.008944787488685612, + 0.9994052648544312, + -0.03330412675687945, + -0.03011129672637609 + ], + [ + 0.1812162077454543, + 0.031133878976106644, + 0.9829503614092566, + 0.02791245952438142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9832283266850512, + -0.014777708798646927, + -0.1817793496416084, + 0.1632203923371055 + ], + [ + 0.00886877615656019, + 0.9994068741798401, + -0.033276117730845066, + -0.030067619322879904 + ], + [ + 0.18216326492996984, + 0.03110586106777191, + 0.9827761466422313, + 0.028075775552578622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9830530658759647, + -0.014727888628840446, + -0.18272858294387131, + 0.1644303114932316 + ], + [ + 0.008792830158063815, + 0.999408483505249, + -0.033247988541250724, + -0.030024055335805423 + ], + [ + 0.1831101617090765, + 0.031077835708856583, + 0.9826010358211491, + 0.028238718842730888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9828769648058722, + -0.014678074046969414, + -0.1836776560348432, + 0.16564027911025278 + ], + [ + 0.008716952149244346, + 0.9994100332260132, + -0.03321973595221572, + -0.029980574571359487 + ], + [ + 0.18405689083843604, + 0.031049802899360657, + 0.9824250302350058, + 0.028401394899677246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9826999048064029, + -0.014628264121711254, + -0.18462655535469738, + 0.1668502853226499 + ], + [ + 0.008641144393909426, + 0.9994116425514221, + -0.033191364236530504, + -0.02993719898836928 + ], + [ + 0.1850034602013997, + 0.031021766364574432, + 0.982248128472467, + 0.028563750095221538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9825218878022643, + -0.014578456990420818, + -0.18557527025498116, + 0.1680603208508054 + ], + [ + 0.008565402221724095, + 0.999413251876831, + -0.03316286884799845, + -0.029893910871908538 + ], + [ + 0.18594984961403824, + 0.030993718653917313, + 0.982070273601109, + 0.02872583550077274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9823430296807172, + -0.014528652653098106, + -0.18652382984694466, + 0.1692704159095876 + ], + [ + 0.008489726637722217, + 0.99941486120224, + -0.03313425572028531, + -0.029850713768668873 + ], + [ + 0.18689607564590466, + 0.030965669080615044, + 0.9818915231956603, + 0.028887600646597577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9821632146572823, + -0.014478851109743118, + -0.18747220460496428, + 0.17048055316354166 + ], + [ + 0.008414118473469586, + 0.9994164705276489, + -0.03310552129439267, + -0.029807629961338827 + ], + [ + 0.18784213105799163, + 0.03093761019408703, + 0.9817118785748743, + 0.029049044840034916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9819824416688996, + -0.014429057016968727, + -0.18842040037600666, + 0.17169071828507276 + ], + [ + 0.00833858315535762, + 0.9994180202484131, + -0.03307666286157281, + -0.029764625008986776 + ], + [ + 0.18878801105261056, + 0.030909541994333267, + 0.9815312800196301, + 0.029210221468644555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9818008286946476, + -0.014379264786839485, + -0.18936843474417595, + 0.17290094588424237 + ], + [ + 0.008263112174128215, + 0.999419629573822, + -0.03304768650801468, + -0.02972171907280951 + ], + [ + 0.1897337223123315, + 0.030881471931934357, + 0.9813497869001662, + 0.029371077339956968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9816182592880274, + -0.014329474419355392, + -0.19031628192505332, + 0.17411121814211364 + ], + [ + 0.008187710721956521, + 0.9994211792945862, + -0.0330185856926083, + -0.029678915044988076 + ], + [ + 0.19067926080805353, + 0.0308533925563097, + 0.9811673999677604, + 0.0295316123276132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.981434732968469, + -0.014279690571129322, + -0.1912639445584783, + 0.1753215096310374 + ], + [ + 0.008112378170603276, + 0.9994227886199951, + -0.032989369853214684, + -0.029636198091530015 + ], + [ + 0.19162463029282265, + 0.030825309455394745, + 0.9809841185228274, + 0.02969187803991178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9812503674052108, + -0.014229905791580677, + -0.19221144199036716, + 0.1765318692867293 + ], + [ + 0.008037112744255387, + 0.9994243383407593, + -0.03296002925658048, + -0.029593579864961927 + ], + [ + 0.1925698151812339, + 0.030797217041254044, + 0.980799884845279, + 0.029851823448517428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.981065044845871, + -0.014180131256580356, + -0.19315875537332966, + 0.17774226847770863 + ], + [ + 0.007961920548400472, + 0.9994259476661684, + -0.03293057272155169, + -0.029551062907485427 + ], + [ + 0.19351483065280878, + 0.0307691190391779, + 0.9806147567231893, + 0.030011448612320222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9808788248978756, + -0.014130355790257454, + -0.19410589033778802, + 0.17895270152747483 + ], + [ + 0.00788679329170151, + 0.9994274973869324, + -0.032900994959538694, + -0.02950863769710026 + ], + [ + 0.1944596600801793, + 0.030741015449166298, + 0.9804286766415503, + 0.030170802890817798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9806916486785024, + -0.014080582186579704, + -0.19505283750653107, + 0.18016317762596903 + ], + [ + 0.007811736070361853, + 0.9994290471076965, + -0.03287129512060502, + -0.029466307065070182 + ], + [ + 0.1954043277748683, + 0.030712904408574104, + 0.9802417613197666, + 0.030329839449290606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9805035752562706, + -0.014030814170837402, + -0.19599960538448674, + 0.18137370699068492 + ], + [ + 0.007736748703530358, + 0.9994306564331055, + -0.032841475146486325, + -0.029424071071563616 + ], + [ + 0.19634880856374892, + 0.030684784054756165, + 0.9800538942028936, + 0.030488554062243288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9803146044448356, + -0.013981052674353123, + -0.19694619497089758, + 0.18258426815546105 + ], + [ + 0.007661833387513563, + 0.9994322061538696, + -0.03281153934104433, + -0.029381934879969016 + ], + [ + 0.1972931032590653, + 0.030656661838293076, + 0.9798650751311213, + 0.03064699921476982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9801246783702221, + -0.013931291177868843, + -0.19789259166699988, + 0.18379487303743416 + ], + [ + 0.007586983845783634, + 0.9994337558746338, + -0.03278147706973885, + -0.02933989055567575 + ], + [ + 0.198237231527634, + 0.03062852844595909, + 0.9796754217209451, + 0.030805124831159336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9799339142844593, + -0.013881535269320011, + -0.19883881709195886, + 0.1850055416408641 + ], + [ + 0.007512207599784563, + 0.999435305595398, + -0.032751299371957115, + -0.029297949608578813 + ], + [ + 0.19918116918535175, + 0.03060038946568966, + 0.9794848172373241, + 0.030962929218904006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9797421363935086, + -0.013831784017384056, + -0.19978483851372786, + 0.18621622266375049 + ], + [ + 0.007437502062093003, + 0.9994368553161623, + -0.03272100582593573, + -0.029256093957802702 + ], + [ + 0.20012492957020978, + 0.030572248622775085, + 0.9792933198015837, + 0.03112046563644159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9795495202907409, + -0.013782033696770671, + -0.20073068974760466, + 0.18742696687272384 + ], + [ + 0.007362863732088918, + 0.9994384050369265, + -0.03269058631798475, + -0.02921433750515916 + ], + [ + 0.20106850018170994, + 0.030544096603989608, + 0.9791008711209312, + 0.03127768040766443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9793559497827353, + -0.013732288032770157, + -0.2016763439365409, + 0.18863775023625978 + ], + [ + 0.007288298268046013, + 0.9994399547576904, + -0.03266005154835992, + -0.029172682783114537 + ], + [ + 0.20201188900483794, + 0.030515938997268677, + 0.9789075303788582, + 0.031434573108120846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9791614825882063, + -0.013682547025382519, + -0.2026218164299522, + 0.18984856742509398 + ], + [ + 0.007213802909340873, + 0.9994415044784546, + -0.03262939724794538, + -0.02913112112301552 + ], + [ + 0.2029550997819013, + 0.030487775802612305, + 0.978713296820824, + 0.03159119867079001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9789660614801156, + -0.01363280788064003, + -0.20356708950969712, + 0.19105942864618536 + ], + [ + 0.0071393765397812356, + 0.9994430541992188, + -0.03259862516742375, + -0.029089650912897252 + ], + [ + 0.20389812666823423, + 0.030459605157375336, + 0.9785181716201687, + 0.03174750440577649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9787697445176707, + -0.013583073392510418, + -0.20451217682694794, + 0.1922703380603238 + ], + [ + 0.0070650228043730315, + 0.9994445443153384, + -0.03256773232301784, + -0.02904828269552541 + ], + [ + 0.2048409596474604, + 0.030431427061557777, + 0.9783220959901394, + 0.03190348790619281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9785725323427901, + -0.013533340767025948, + -0.20545707527280765, + 0.19348128641609189 + ], + [ + 0.006990739513039433, + 0.9994460940361023, + -0.03253671644630564, + -0.02900700581631796 + ], + [ + 0.20578360742012305, + 0.030403239652514458, + 0.9781251289859865, + 0.03205920334362482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9783744243832586, + -0.013483613729476932, + -0.20640178766898, + 0.19469228712027395 + ], + [ + 0.006916528609123436, + 0.9994476437568667, + -0.032505587522544614, + -0.028965825378765887 + ], + [ + 0.20672607281300825, + 0.030375052243471153, + 0.9779272700247563, + 0.03221459884719717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9781753628297152, + -0.013433892279863358, + -0.20734629923877512, + 0.19590332628932994 + ], + [ + 0.00684239137617451, + 0.9994491338729858, + -0.032474340197548426, + -0.02892474310736827 + ], + [ + 0.20766834105448595, + 0.030346855521202087, + 0.9777284612863436, + 0.032369672461208726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9779754066252352, + -0.013384170830249786, + -0.20829061932776813, + 0.1971143958916069 + ], + [ + 0.006768321066640584, + 0.99945068359375, + -0.03244297124536619, + -0.02888375488956908 + ], + [ + 0.2086104205835247, + 0.030318651348352432, + 0.9775287618935121, + 0.03252447781319663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.977774496951923, + -0.013334454037249088, + -0.20923473804803272, + 0.19832551111523242 + ], + [ + 0.006694324527501623, + 0.9994521737098694, + -0.03241148977875875, + -0.028842861105076775 + ], + [ + 0.2095523155926766, + 0.03029044345021248, + 0.977328170969567, + 0.032678961930303244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9775727512865419, + -0.013284740969538689, + -0.21017867605011875, + 0.19953666983385565 + ], + [ + 0.006620399272789602, + 0.9994537234306335, + -0.032379885843795676, + -0.028802058742252463 + ], + [ + 0.21049400929753984, + 0.03026222623884678, + 0.9771266311263351, + 0.03283317646025491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9773700532604268, + -0.013235030695796013, + -0.21112240748492997, + 0.20074788764487564 + ], + [ + 0.00654654705368745, + 0.9994552135467529, + -0.032348165598890546, + -0.02876136415811668 + ], + [ + 0.21143551169871486, + 0.03023400530219078, + 0.976924201172575, + 0.03298701840356318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9771664014972342, + -0.013185326009988785, + -0.21206593884969296, + 0.20195910640382342 + ], + [ + 0.00647276789583581, + 0.9994567036628723, + -0.032316325323842585, + -0.028720751379569205 + ], + [ + 0.21237683040127664, + 0.030205773189663887, + 0.9767208794884067, + 0.03314064507774858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9769618561398768, + -0.01313562411814928, + -0.2130092738899527, + 0.2031703986610326 + ], + [ + 0.006399060278096855, + 0.9994582533836365, + -0.03228436858277631, + -0.028680250519783967 + ], + [ + 0.21331795683963714, + 0.030177537351846695, + 0.9765166678866268, + 0.03329389978652109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9767564176234547, + -0.013085926882922653, + -0.213952410643026, + 0.2043817206781342 + ], + [ + 0.006325426966596156, + 0.9994597434997561, + -0.03225229223891627, + -0.028639829437753995 + ], + [ + 0.2142588758017685, + 0.030149294063448913, + 0.9763115086740557, + 0.03344688246753795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9765500851548922, + -0.013036231510341167, + -0.2148953528359738, + 0.20559309887045396 + ], + [ + 0.006251864611365359, + 0.9994612336158752, + -0.03222009946125872, + -0.02859951677739717 + ], + [ + 0.21519960437368127, + 0.03012104332447052, + 0.976105459142159, + 0.03359954563264733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9763428004298079, + -0.012986541725695137, + -0.21583808808056146, + 0.20680451263803773 + ], + [ + 0.00617837701217853, + 0.9994627237319949, + -0.03218779115277296, + -0.028559302456123304 + ], + [ + 0.2161401424155812, + 0.030092788860201843, + 0.9758985193096505, + 0.033751889439939814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9761346228363169, + -0.012936853803694248, + -0.2167806237994759, + 0.20801596065708233 + ], + [ + 0.006104960064453356, + 0.999464213848114, + -0.03215536078007794, + -0.02851917447981915 + ], + [ + 0.21708047156616067, + 0.030064525082707405, + 0.9756906321672559, + 0.03390396287275506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9759255517647365, + -0.012887169606983662, + -0.2177229628066101, + 0.20922746424434027 + ], + [ + 0.006031618201689169, + 0.9994657039642334, + -0.03212281511032852, + -0.028479143008938092 + ], + [ + 0.2180206077342826, + 0.030036253854632378, + 0.9754818552458259, + 0.03405571726026449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9757155300073203, + -0.012837491929531097, + -0.21866508774807197, + 0.21043898411778708 + ], + [ + 0.005958350671525563, + 0.9994671940803528, + -0.032090154063987034, + -0.02843920639077489 + ], + [ + 0.2189605469156708, + 0.03000797890126705, + 0.9752721894202288, + 0.034207200804279914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9755046155245356, + -0.01278781145811081, + -0.2196070126081951, + 0.2116505585463654 + ], + [ + 0.005885152581813338, + 0.9994686841964722, + -0.032057374727580086, + -0.02839936579474469 + ], + [ + 0.21990027647340754, + 0.02997969463467598, + 0.9750615764386097, + 0.03435836362784511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9752927499314888, + -0.01273814029991627, + -0.22054872536198641, + 0.21286217031232643 + ], + [ + 0.0058120318725316785, + 0.9994701743125918, + -0.03202448085208428, + -0.02835962506730954 + ], + [ + 0.2208398106860697, + 0.029951410368084914, + 0.9748500741790138, + 0.034509206992029126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.975080050216292, + -0.012688469141721725, + -0.22149024911043885, + 0.21407384815327488 + ], + [ + 0.005738982247421061, + 0.9994716644287109, + -0.03199146729631198, + -0.028319991322127234 + ], + [ + 0.22177914714210473, + 0.02992311120033264, + 0.9746376831707295, + 0.03465972915391463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9748664014327546, + -0.012638804502785206, + -0.2224315517068153, + 0.2152855433949073 + ], + [ + 0.005666009415891363, + 0.9994731545448303, + -0.031958339239020084, + -0.02828044090791774 + ], + [ + 0.22271827888970855, + 0.029894812032580376, + 0.9744244049777024, + 0.03480998228787567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9746518014069179, + -0.01258914452046156, + -0.22337264281058994, + 0.21649727741437969 + ], + [ + 0.0055931129553411655, + 0.9994746446609497, + -0.03192509094430511, + -0.028240990843668306 + ], + [ + 0.223657203029765, + 0.029866499826312065, + 0.974210179147474, + 0.03495991501153685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9744363681276105, + -0.012539485469460487, + -0.22431354113780003, + 0.21770905852412836 + ], + [ + 0.005520287334700195, + 0.9994760751724243, + -0.03189173078621678, + -0.028201625474654983 + ], + [ + 0.22459592523753102, + 0.029838187620043755, + 0.9739950654978199, + 0.03510957832151322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9742199848837068, + -0.012489832006394863, + -0.22525422233452946, + 0.21892088165710466 + ], + [ + 0.005447538906752752, + 0.9994775652885437, + -0.0318582526505797, + -0.028162365920951362 + ], + [ + 0.22553443385473768, + 0.02980986423790455, + 0.9737790055473017, + 0.03525891981585713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9740026522733403, + -0.012440181337296966, + -0.22619468379683352, + 0.22013273642321726 + ], + [ + 0.0053748633015950975, + 0.9994789958000185, + -0.03182465561677329, + -0.028123202058182924 + ], + [ + 0.22647275353525478, + 0.029781533405184753, + 0.9735621159371394, + 0.035407944131514164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.973784487004915, + -0.012390530668199066, + -0.22713494996255987, + 0.22134464323967157 + ], + [ + 0.005302261176534921, + 0.9994804859161379, + -0.03179094182120738, + -0.02808413189193439 + ], + [ + 0.2274108547963615, + 0.029753196984529502, + 0.9733442811241327, + 0.0355566962120781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9735653731085363, + -0.012340889312326908, + -0.2280749932599772, + 0.22255658393192557 + ], + [ + 0.0052297368695428045, + 0.9994819164276123, + -0.03175711808752309, + -0.02804515993246464 + ], + [ + 0.22834873696985664, + 0.029724856838583946, + 0.9731255012625947, + 0.03570512674911326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.973345310536689, + -0.012291247956454757, + -0.22901481392304987, + 0.22376856432288894 + ], + [ + 0.005157286780446227, + 0.9994834065437319, + -0.03172317601457545, + -0.028006287232261926 + ], + [ + 0.22928642747510966, + 0.029696509242057807, + 0.9729058923633265, + 0.035853238179689904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9731244142368346, + -0.012241614051163197, + -0.22995444391220077, + 0.2249806087224104 + ], + [ + 0.005084913851716925, + 0.9994848370552063, + -0.03168912019713453, + -0.02796751493456547 + ], + [ + 0.23022390426910677, + 0.029668157920241356, + 0.9726853371413692, + 0.03600103019249997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9729025704636909, + -0.01219198014587164, + -0.2308938461493844, + 0.2261926734702366 + ], + [ + 0.005012614086170953, + 0.9994862675666809, + -0.03165494403573929, + -0.02792882553614623 + ], + [ + 0.2311611705395616, + 0.029639793559908867, + 0.9724638960639497, + 0.03614855263303994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9726798370440647, + -0.012142352759838104, + -0.23183303516071466, + 0.2274047881340457 + ], + [ + 0.004940392280452168, + 0.9994877576828003, + -0.03162065639745573, + -0.02789025131212168 + ], + [ + 0.23209821372888692, + 0.02961142733693123, + 0.9722415108562144, + 0.03629575108053733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9724561553019976, + -0.012092728167772293, + -0.23277200007383334, + 0.22861692248501703 + ], + [ + 0.004868246256819238, + 0.9994891881942749, + -0.03158625110835741, + -0.027851753846786023 + ], + [ + 0.23303505052436985, + 0.029583053663372993, + 0.972018238811955, + 0.03644268272579017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.972231583951139, + -0.012043104507029057, + -0.23371075163168065, + 0.2298291093668781 + ], + [ + 0.004796174806934997, + 0.9994906187057495, + -0.03155172604160589, + -0.027813355885185468 + ], + [ + 0.23397167789914694, + 0.029554666951298714, + 0.9717940806424373, + 0.0365892948971578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9720061227282436, + -0.011993487365543846, + -0.2346492909362818, + 0.2310413452269459 + ], + [ + 0.004724178234893258, + 0.9994920492172243, + -0.03151709667114954, + -0.027775060762079615 + ], + [ + 0.23490809695960166, + 0.02952628582715989, + 0.9715690360733114, + 0.03673558619851358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9717797147015035, + -0.011943873949348927, + -0.23558759981997268, + 0.232253599632692 + ], + [ + 0.004652261518034896, + 0.9994934797286987, + -0.03148234703920147, + -0.02773685844300127 + ], + [ + 0.2358442894575487, + 0.029497889801859856, + 0.971343048182218, + 0.036881605663546424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9715524176584691, + -0.01189426239579916, + -0.23652569292574407, + 0.23346590620398341 + ], + [ + 0.004580420773714296, + 0.9994949102401733, + -0.03144747820585854, + -0.02769874987135083 + ], + [ + 0.236780270181749, + 0.029469488188624382, + 0.9711161747114523, + 0.03702730710143584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9713242322372884, + -0.011844655498862267, + -0.23746356765113402, + 0.23467826383456244 + ], + [ + 0.0045086548680643495, + 0.999496340751648, + -0.03141249955729282, + -0.027660746311861613 + ], + [ + 0.2377160363926331, + 0.02944107912480831, + 0.9708884163224323, + 0.03717268632188585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9710950998201551, + -0.011795052327215675, + -0.23840121279476945, + 0.23589063887635184 + ], + [ + 0.004436966627320902, + 0.9994977712631228, + -0.031377404194779364, + -0.027622826839773705 + ], + [ + 0.2386515769991486, + 0.02941266633570195, + 0.9706597143604601, + 0.03731779690466471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9708650786433193, + -0.01174545381218195, + -0.23933864112385986, + 0.23710306637167697 + ], + [ + 0.004365355782635007, + 0.9994992017745972, + -0.031342197889859875, + -0.027585010048408704 + ], + [ + 0.2395869048221788, + 0.029384247958660126, + 0.9704301270383783, + 0.03746258751485757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9706341697054793, + -0.011695857159793377, + -0.24027584859610798, + 0.23831554060474555 + ], + [ + 0.004293821115570923, + 0.999500572681427, + -0.031306874668319676, + -0.027547294583016795 + ], + [ + 0.2405220156187956, + 0.029355822131037712, + 0.9701996553943283, + 0.03760705638237296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9704023728235811, + -0.011646265164017677, + -0.2412128359736739, + 0.23952804871943714 + ], + [ + 0.004222365054356825, + 0.9995020031929016, + -0.03127143713099907, + -0.027509666809326854 + ], + [ + 0.24145691037432565, + 0.029327386990189552, + 0.9699682991800096, + 0.037751257038787525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.97016963026473, + -0.011596676893532276, + -0.2421495884373469, + 0.24074059673112538 + ], + [ + 0.004150987307390943, + 0.9995034337043762, + -0.03123588337022718, + -0.027472138081107753 + ], + [ + 0.2423915740619236, + 0.029298944398760796, + 0.9697360007041316, + 0.037895136894738224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9699360002562958, + -0.011547092348337173, + -0.2430861188413056, + 0.24195319142520608 + ], + [ + 0.004079686677219853, + 0.999504804611206, + -0.031200218929221993, + -0.027434717904532103 + ], + [ + 0.24332601972348367, + 0.02927049994468689, + 0.9695028181371821, + 0.03803869492373272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9697014255478001, + -0.011497509665787222, + -0.24402241046239234, + 0.24316580696559933 + ], + [ + 0.004008461069274892, + 0.9995062351226809, + -0.03116443759744017, + -0.027397377225047287 + ], + [ + 0.24426023061171495, + 0.029242044314742095, + 0.9692686942244795, + 0.038181982890600485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9694659633132816, + -0.011447933502495289, + -0.24495848034599682, + 0.24437846724528542 + ], + [ + 0.00393731694261479, + 0.9995076060295105, + -0.031128548771800824, + -0.027360142188782268 + ], + [ + 0.24519423836017998, + 0.029213588684797287, + 0.9690337439217712, + 0.038324951912837274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9692296137277473, + -0.011398359201848507, + -0.2458943277838496, + 0.245591183203371 + ], + [ + 0.0038662499962560663, + 0.9995090365409851, + -0.03109253607535622, + -0.02732300506943941 + ], + [ + 0.24612801310338675, + 0.029185118153691292, + 0.968797851805281, + 0.03846760100240825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9689923783823946, + -0.011348787695169449, + -0.24682994654191331, + 0.24680392906147763 + ], + [ + 0.0037952612342011774, + 0.9995104074478149, + -0.031056415217965146, + -0.02728595777075776 + ], + [ + 0.24706154808317488, + 0.029156643897294998, + 0.9685610195898581, + 0.038609978032334895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9687541984129729, + -0.01129922177642584, + -0.24776532624425046, + 0.2480167179689962 + ], + [ + 0.0037243512880548875, + 0.9995118379592898, + -0.031020180678038033, + -0.027249011531198002 + ], + [ + 0.24799487799005968, + 0.029128164052963264, + 0.9683233614444684, + 0.03875203719165146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9685151317810317, + -0.011249659582972527, + -0.24870048080239035, + 0.24922954549225312 + ], + [ + 0.003653519850435181, + 0.9995132088661194, + -0.030983834382798142, + -0.027212164563951275 + ], + [ + 0.24892797173362063, + 0.029099680483341217, + 0.9680847622609079, + 0.03889377443122308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9682751219105171, + -0.011200102046132088, + -0.24963539091818368, + 0.2504423934576445 + ], + [ + 0.003582767975577505, + 0.9995145797729492, + -0.030947376688946128, + -0.027175407337096988 + ], + [ + 0.24986082504049012, + 0.02907118946313858, + 0.9678452231333482, + 0.03903524010956051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9680342263028547, + -0.01115054450929165, + -0.25057007232272305, + 0.25165529894798216 + ], + [ + 0.00351209225010728, + 0.9995159506797793, + -0.03091080294195297, + -0.02713875022733856 + ], + [ + 0.25079346869382185, + 0.029042690992355354, + 0.9676048592258493, + 0.03917639017147912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9677924454972109, + -0.011100993491709232, + -0.2515045229589808, + 0.2528682507143485 + ], + [ + 0.0034414991477180437, + 0.9995173811912537, + -0.030874114908812634, + -0.027102193471110935 + ], + [ + 0.25172587049490686, + 0.029014181345701218, + 0.9673635557317675, + 0.039317215659038035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9675497795943464, + -0.011051444336771965, + -0.25243874246024467, + 0.25408122828234436 + ], + [ + 0.0033709820515924705, + 0.9995187520980835, + -0.030837312866242673, + -0.027065727618636754 + ], + [ + 0.25265804540369924, + 0.02898566983640194, + 0.9671213703423968, + 0.03945777183612367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9673061698197712, + -0.01100190170109272, + -0.2533727199489245, + 0.25529424615834784 + ], + [ + 0.0033005477977809494, + 0.9995201230049133, + -0.030800404472359696, + -0.027029361918231194 + ], + [ + 0.2535899972211166, + 0.028957150876522064, + 0.9668783020441724, + 0.03959800916776907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9670616757665382, + -0.010952360928058624, + -0.2543064631889851, + 0.25650729524062543 + ], + [ + 0.003230190812214574, + 0.9995214939117432, + -0.03076337870958223, + -0.026993075856464155 + ], + [ + 0.25452170409093405, + 0.02892862632870674, + 0.966634294946049, + 0.03973797675369546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9668162394086187, + -0.010902822948992254, + -0.25523995847568914, + 0.2577203975891589 + ], + [ + 0.0031599125267993042, + 0.9995228648185732, + -0.03072624181382704, + -0.02695691549396751 + ], + [ + 0.255453181950173, + 0.02890009433031083, + 0.9663894064806171, + 0.039877569907343736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9665700109317904, + -0.010853239335119724, + -0.25617310589025366, + 0.2589336671679361 + ], + [ + 0.0030896799083952385, + 0.9995242357254028, + -0.030688952232053063, + -0.026920799588511204 + ], + [ + 0.2563842834436677, + 0.028871526941657066, + 0.9661436144139097, + 0.040016918176091994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/pan_right/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1a4dfab823fd04c37db68a5478c2c39b838d1d --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/pan_right/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999848932893783, + -0.0032555165234953165, + -0.004433977894086987, + -0.005579644348472357 + ], + [ + 0.0032366452013720157, + 0.9999856948852539, + -0.0042565976208563195, + -0.004676752258092165 + ], + [ + 0.004447772157775223, + 0.0042421817779541016, + 0.9999810936999967, + -0.0007416859152726829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999943512284021, + -0.005377934314310551, + -0.00916966580961736, + -0.01118343137204647 + ], + [ + 0.005331212684395429, + 0.9999727010726929, + -0.0051120546118027, + -0.006022309418767691 + ], + [ + 0.009196907782048167, + 0.005062880460172892, + 0.9999448832708853, + -0.0023136166855692863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999057180630228, + -0.010394159704446794, + -0.008971616621759847, + -0.013045857660472393 + ], + [ + 0.010240760623615154, + 0.999803423881531, + -0.016978174290801368, + -0.01793772540986538 + ], + [ + 0.009146326104446295, + 0.016884699463844303, + 0.9998156330385156, + -0.00023266227799467742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998139949186929, + -0.014360994100570679, + -0.012873488888738197, + -0.018272200599312782 + ], + [ + 0.014058848987530483, + 0.9996305704116821, + -0.02326140692883954, + -0.02461937814950943 + ], + [ + 0.013202789020733014, + 0.023076094686985016, + 0.9996465165979184, + -0.0006188844563439488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996739650268016, + -0.018689326941967014, + -0.01739606463692456, + -0.02411813661456108 + ], + [ + 0.01816226830840902, + 0.9993855357170107, + -0.029977857710560017, + -0.03177720680832863 + ], + [ + 0.017945642715859172, + 0.02965213172137738, + 0.9993991536658734, + -0.0011674959678202868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995268339703052, + -0.02249216474592686, + -0.02098039946331024, + -0.029013922438025475 + ], + [ + 0.02173127575308601, + 0.9991220831871035, + -0.035815575594002474, + -0.03801552578806877 + ], + [ + 0.021767550414817382, + 0.035342700779438026, + 0.9991381910981015, + -0.0016737735131755471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995529302020991, + -0.02244180254638195, + -0.019755771020867965, + -0.02888999693095684 + ], + [ + 0.02172537837088078, + 0.9991242289543152, + -0.035760888057659715, + -0.03797529637813568 + ], + [ + 0.020541008260970352, + 0.03531569615006447, + 0.999165072262731, + -0.0016363204922527075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995775428159407, + -0.022391442209482193, + -0.018531107011773042, + -0.028766075149178505 + ], + [ + 0.021719377996205283, + 0.9991262555122375, + -0.03570625653463084, + -0.03793506696820259 + ], + [ + 0.0193144292458308, + 0.03528868407011032, + 0.9991905247529901, + -0.0015988508239388466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996006121779276, + -0.022341091185808182, + -0.017306411667108636, + -0.028642138466238976 + ], + [ + 0.021713285993621927, + 0.9991283416748047, + -0.035651688535115814, + -0.0378948412835598 + ], + [ + 0.0180878254503532, + 0.035261671990156174, + 0.9992144294041079, + -0.0015614164294674993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996221978896983, + -0.022290736436843872, + -0.016081690035840625, + -0.0285181924700737 + ], + [ + 0.021707093190608342, + 0.9991304278373718, + -0.03559718429412139, + -0.0378546267747879 + ], + [ + 0.016861194481027908, + 0.03523464500904083, + 0.9992368457596443, + -0.0015240169595927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999642240278352, + -0.02224038913846016, + -0.014856940891972866, + -0.02839423157274723 + ], + [ + 0.0217008035426325, + 0.999132513999939, + -0.03554275138015648, + -0.037814415991306305 + ], + [ + 0.015634538844765712, + 0.03520762547850609, + 0.9992577141906461, + -0.0014866527635604143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996607988835513, + -0.022190045565366745, + -0.013632163566437643, + -0.02827027626335621 + ], + [ + 0.021694416872177626, + 0.9991346001625061, + -0.035488363869006966, + -0.037774208933115005 + ], + [ + 0.014407854155264254, + 0.03518058732151985, + 0.9992770941991237, + -0.0014492718037217855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996778736371716, + -0.02213970199227333, + -0.012407357977935804, + -0.02814630977809429 + ], + [ + 0.021687929852393203, + 0.9991366863250732, + -0.03543404431463929, + -0.037734001874923706 + ], + [ + 0.013181144064012593, + 0.03515353798866272, + 0.9992949857690842, + -0.001411925652064383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996934645793041, + -0.022089364007115364, + -0.011182531495055026, + -0.028022347018122673 + ], + [ + 0.021681348167056518, + 0.9991387128829956, + -0.035379789069002146, + -0.037693802267313004 + ], + [ + 0.011954415947293929, + 0.03512648865580559, + 0.9993113889519556, + -0.0013745634350925684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997075120882328, + -0.02203903160989285, + -0.00995768687820073, + -0.02789836935698986 + ], + [ + 0.021674671896298434, + 0.999140799045563, + -0.035325594551364754, + -0.0376536026597023 + ], + [ + 0.010727672573183352, + 0.035099435597658164, + 0.9993262441373706, + -0.0013372359098866582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997200756744913, + -0.021988702937960628, + -0.00873282133502177, + -0.027774380519986153 + ], + [ + 0.021667899437636307, + 0.9991428256034853, + -0.03527146838783007, + -0.037613414227962494 + ], + [ + 0.009500911156973477, + 0.03507237136363984, + 0.9993396108472223, + -0.0012999436585232615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997311553398638, + -0.021938370540738106, + -0.007507938509204986, + -0.02765039913356304 + ], + [ + 0.021661023218408768, + 0.9991449117660522, + -0.03521739596804052, + -0.03757322579622269 + ], + [ + 0.008274131625324596, + 0.03504529595375061, + 0.9993514890252988, + -0.0012626346433535218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997406914299115, + -0.021888047456741336, + -0.006283039494920957, + -0.027526382356882095 + ], + [ + 0.021654056747656615, + 0.9991469383239748, + -0.03516339583239645, + -0.03753305599093437 + ], + [ + 0.007047338804800073, + 0.035018220543861396, + 0.9993618190897502, + -0.0012254121247678995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997487436279746, + -0.021837726235389713, + -0.005058130615752172, + -0.027402391657233238 + ], + [ + 0.02164699266530962, + 0.999149024486542, + -0.03510946454186118, + -0.03749287128448486 + ], + [ + 0.005820539026561803, + 0.03499114885926247, + 0.99937066073531, + -0.0011881223181262612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999755252213342, + -0.021787410601973534, + -0.0038332093719196597, + -0.027278367429971695 + ], + [ + 0.02163983452421934, + 0.9991510510444641, + -0.03505558727207952, + -0.03745270520448685 + ], + [ + 0.004593724768279858, + 0.03496405854821205, + 0.9993780137614068, + -0.0011509186588227749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997603363868103, + -0.021737094968557358, + -0.002608276860956777, + -0.02715435065329075 + ], + [ + 0.02163257710086801, + 0.9991530776023865, + -0.03500177546792244, + -0.03741253539919853 + ], + [ + 0.003366904776718858, + 0.03493696078658104, + 0.9993838186826748, + -0.001113698584958911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997638769084682, + -0.02168678492307663, + -0.0013833356788659212, + -0.02703033946454525 + ], + [ + 0.021625225945268712, + 0.9991551637649536, + -0.03494802170708135, + -0.03737236186861992 + ], + [ + 0.002140076302017198, + 0.03490985557436943, + 0.9993881946289924, + -0.001076461630873382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997658738570363, + -0.02163648046553135, + -0.00015839152716298885, + -0.026906296610832214 + ], + [ + 0.02161777773339401, + 0.999157190322876, + -0.03489433739848476, + -0.037332210689783096 + ], + [ + 0.0009132476646008886, + 0.03488274663686752, + 0.9993910225096199, + -0.0010393117554485798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997664463513147, + -0.021586176007986072, + 0.001066558612624803, + -0.026782259345054626 + ], + [ + 0.021610234287172073, + 0.9991592168807986, + -0.03484071519902581, + -0.037292059510946274 + ], + [ + -0.00031358473694854185, + 0.03485562652349473, + 0.99939230218857, + -0.0010021452326327562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9997654751612931, + -0.021535879001021385, + 0.002291511752646632, + -0.026658209040760994 + ], + [ + 0.021602596043977868, + 0.9991612434387207, + -0.034787166428513205, + -0.03725190833210945 + ], + [ + -0.0015404149638043475, + 0.03482850641012192, + 0.9993920933962485, + -0.0009650135179981589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9997629603321139, + -0.021485578268766403, + 0.00351646405354798, + -0.02653416432440281 + ], + [ + 0.02159485881182388, + 0.9991632699966431, + -0.034733668997237024, + -0.037211764603853226 + ], + [ + -0.002767246812889987, + 0.03480137139558792, + 0.9993903959840837, + -0.0009278655634261668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997590210767848, + -0.021435288712382317, + 0.004741415201375198, + -0.02641010843217373 + ], + [ + 0.021587030794439355, + 0.9991652965545654, + -0.03468024518779486, + -0.0371716171503067 + ], + [ + -0.003994076633121203, + 0.03477424383163452, + 0.9993872100014866, + -0.0008907526498660445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997535380683632, + -0.021384997293353084, + 0.005966365540182202, + -0.026286035776138306 + ], + [ + 0.02157910634639559, + 0.999167323112488, + -0.03462688785860183, + -0.03713149204850197 + ], + [ + -0.0052208989457961305, + 0.034747101366519935, + 0.9993824759315476, + -0.0008536750101484358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997465115366952, + -0.021334711462259293, + 0.007191305645460949, + -0.02616197057068348 + ], + [ + 0.021571085375699222, + 0.9991693496704102, + -0.03457358971578664, + -0.03709135577082634 + ], + [ + -0.006447713659360686, + 0.03471995145082474, + 0.9993762533657867, + -0.0008165806066244841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999738060463344, + -0.021284429356455803, + 0.008416243041947201, + -0.02603789232671261 + ], + [ + 0.021562973832464437, + 0.9991713762283325, + -0.03452035817580559, + -0.03705122321844101 + ], + [ + -0.0076745208465931304, + 0.03469279408454895, + 0.9993685422561861, + -0.0007795210694894195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997280658255626, + -0.02123415283858776, + 0.009641168373290841, + -0.025913799181580544 + ], + [ + 0.02155476627646109, + 0.9991733431816101, + -0.03446719356250461, + -0.03701111301779747 + ], + [ + -0.008901314995307266, + 0.03466563671827316, + 0.9993593427384178, + -0.000742497097235173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997165273810285, + -0.021183874458074573, + 0.010866087108411896, + -0.025789713487029076 + ], + [ + 0.021546458868880413, + 0.9991753697395327, + -0.03441408871267232, + -0.03697098419070244 + ], + [ + -0.010128103397026814, + 0.03463845700025559, + 0.9993485948763511, + -0.000705456011928618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997035646619217, + -0.02113360352814198, + 0.012090990409057409, + -0.025665612891316414 + ], + [ + 0.021538061307623344, + 0.9991773962974551, + -0.03436105090053701, + -0.0369308777153492 + ], + [ + -0.011354871328822293, + 0.034611277282238014, + 0.9993363587701887, + -0.0006684506661258638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999689058216593, + -0.021083334460854534, + 0.013315881558139453, + -0.025541501119732857 + ], + [ + 0.021529571876428115, + 0.9991793632507326, + -0.03430808032887279, + -0.03689076751470566 + ], + [ + -0.012581624089983631, + 0.034584097564220435, + 0.9993225745501206, + -0.0006314796628430486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9996730083382794, + -0.021033067256212234, + 0.014540751132843874, + -0.025417394936084747 + ], + [ + 0.021520983418484074, + 0.9991813898086548, + -0.03425518114509803, + -0.03685066103935242 + ], + [ + -0.013808356819704546, + 0.03455691412091255, + 0.9993073616426399, + -0.000594492768868804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9996555338845403, + -0.02098280750215054, + 0.015765609300907642, + -0.025293277576565742 + ], + [ + 0.021512304811201265, + 0.9991833567619326, + -0.034202338255503, + -0.03681056573987007 + ], + [ + -0.01503507439296001, + 0.03452971205115319, + 0.9992906005215615, + -0.0005575406830757856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9996365159675017, + -0.02093254774808884, + 0.016990444062549945, + -0.025169141590595245 + ], + [ + 0.02150352947381852, + 0.999185383319855, + -0.03414957070726128, + -0.036770474165678024 + ], + [ + -0.01626176551882089, + 0.03450250998139382, + 0.9992722915759327, + -0.000520623754709959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9996160141734138, + -0.020882295444607738, + 0.01821525592115874, + -0.025045014917850494 + ], + [ + 0.02149466471175618, + 0.9991873502731325, + -0.034096870902119845, + -0.03673037886619568 + ], + [ + -0.017488433173851205, + 0.03447530791163445, + 0.9992525539566174, + -0.0004836904408875853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995939686613456, + -0.020832043141126633, + 0.01944004799376329, + -0.0249208752065897 + ], + [ + 0.021485702590914847, + 0.9991893768310547, + -0.03404422440288957, + -0.03669029474258423 + ], + [ + -0.018715078118092858, + 0.034448083490133286, + 0.999231268275772, + -0.0004467918479349464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999570439400332, + -0.020781796425580982, + 0.020664811608957584, + -0.02479674108326435 + ], + [ + 0.021476645886415877, + 0.9991913437843325, + -0.03399164989507094, + -0.03665020689368248 + ], + [ + -0.019941692783957264, + 0.03442086279392243, + 0.9992084348032224, + -0.0004098769277334213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995454261775968, + -0.020731551572680477, + 0.021889550568171445, + -0.024672575294971466 + ], + [ + 0.021467498312052382, + 0.9991933107376101, + -0.03393914363941936, + -0.036610137671232224 + ], + [ + -0.021168282400067847, + 0.034393627196550376, + 0.999184172590401, + -0.0003730484168045223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995188695591057, + -0.020681310445070267, + 0.02311425848783786, + -0.02454841323196888 + ], + [ + 0.02145825815409474, + 0.9991952776908875, + -0.03388670585918907, + -0.03657006844878197 + ], + [ + -0.022394838030228174, + 0.034366391599178314, + 0.9991583626644355, + -0.00033620349131524563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9994908291226272, + -0.020631071180105213, + 0.02433893619740124, + -0.02442426048219204 + ], + [ + 0.02144892334857992, + 0.9991972446441653, + -0.03383432934322047, + -0.03652999550104141 + ], + [ + -0.0236213604968392, + 0.03433914855122567, + 0.9991310646145294, + -0.00029934229678474367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9994613050800925, + -0.020580839365720752, + 0.02556357819458255, + -0.024300092831254005 + ], + [ + 0.021439496776854725, + 0.9991992115974428, + -0.0337820327570809, + -0.036489930003881454 + ], + [ + -0.0248478451398932, + 0.03431190177798272, + 0.9991022189491516, + -0.00026251637609675527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994302969276362, + -0.02053060941398144, + 0.02678819386099256, + -0.024175910279154778 + ], + [ + 0.02142997919894102, + 0.9992012381553652, + -0.03372979010482722, + -0.036449871957302094 + ], + [ + -0.026074303290785313, + 0.03428464755415917, + 0.9990719444212567, + -0.00022572495799977332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9993977458052151, + -0.020480381324887276, + 0.02801276539011279, + -0.024051716551184654 + ], + [ + 0.021420364210708094, + 0.9992032051086426, + -0.03367762050354954, + -0.03640982136130333 + ], + [ + -0.027300711327461324, + 0.03425738215446472, + 0.9990400631147359, + -0.00018896909023169428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993637110180703, + -0.02043016068637371, + 0.029237299453873645, + -0.02392752841114998 + ], + [ + 0.021410664803102657, + 0.9992051124572754, + -0.03362551972213091, + -0.036369774490594864 + ], + [ + -0.028527085574243317, + 0.03423011675477028, + 0.9990067532159107, + -0.00015219670603983104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9993281328893, + -0.0203799419105053, + 0.03046179485876022, + -0.02380332723259926 + ], + [ + 0.021400867711267695, + 0.9992070794105532, + -0.033573481123300615, + -0.0363297313451767 + ], + [ + -0.02975341445288034, + 0.03420283645391465, + 0.9989718959064563, + -0.00011545899178599939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992910713788763, + -0.020329723134636882, + 0.03168624538527323, + -0.023679129779338837 + ], + [ + 0.021390979439698733, + 0.9992090463638308, + -0.03352151944859134, + -0.03628968074917793 + ], + [ + -0.030979699177460025, + 0.03417555615305901, + 0.9989355507703525, + -7.8705204941798e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9992525261367741, + -0.020279513671994213, + 0.032910656692420874, + -0.023554902523756027 + ], + [ + 0.021381001001921793, + 0.9992110133171084, + -0.0334696161379418, + -0.03624965623021126 + ], + [ + -0.03220594167974827, + 0.03414826467633248, + 0.9988977176607862, + -4.2037620005430654e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9992124975105128, + -0.02022930048406124, + 0.03413502141930638, + -0.023430701345205307 + ], + [ + 0.021370927762818247, + 0.9992129802703857, + -0.03341778651866778, + -0.03620961681008339 + ], + [ + -0.033432138311465145, + 0.03412096947431564, + 0.9988583967287866, + -5.3025828492536675e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9991709259420434, + -0.02017909660935402, + 0.035359336251658, + -0.02330646850168705 + ], + [ + 0.02136076503929882, + 0.9992148876190186, + -0.03336602298694674, + -0.03616959601640701 + ], + [ + -0.034658278312315695, + 0.03409366309642792, + 0.998817528839767, + 3.134628423140384e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9991278711069037, + -0.020128892734646797, + 0.03658360081197613, + -0.02318223938345909 + ], + [ + 0.021350507389770047, + 0.9992168545722961, + -0.03331432600259735, + -0.03612956777215004 + ], + [ + -0.035884368736709, + 0.03406635299324989, + 0.9987751732607153, + 6.801152630941942e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9990832733448906, + -0.020078696310520172, + 0.037807813514920595, + -0.02305799163877964 + ], + [ + 0.0213401630506588, + 0.999218761920929, + -0.03326270643518412, + -0.03608955815434456 + ], + [ + -0.037110407991804276, + 0.03403903543949127, + 0.9987312703307515, + 0.0001046415272867307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9990371924388218, + -0.020028501749038696, + 0.0390319722541141, + -0.02293373830616474 + ], + [ + 0.021329725944891208, + 0.9992207288742065, + -0.03321115359239824, + -0.036049552261829376 + ], + [ + -0.03833638652665994, + 0.03401172161102295, + 0.9986858802806293, + 0.0001412363926647231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989896282252047, + -0.019978310912847522, + 0.040256078967509726, + -0.02280948869884014 + ], + [ + 0.021319198069865125, + 0.9992226362228396, + -0.03315966750714249, + -0.036009542644023895 + ], + [ + -0.03956231370978203, + 0.03398438915610314, + 0.9986390025138928, + 0.0001778478908818215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9989405806425992, + -0.01992812380194664, + 0.04148013373311292, + -0.022685250267386436 + ], + [ + 0.021308579331228497, + 0.9992246031761169, + -0.03310824460213833, + -0.035969529300928116 + ], + [ + -0.040788185893669095, + 0.03395704925060272, + 0.9985906372009038, + 0.00021447597828228027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9988899909669704, + -0.01987793669104576, + 0.042704119831949196, + -0.02256097085773945 + ], + [ + 0.021297866846845474, + 0.9992265105247498, + -0.0330568964085243, + -0.03592953830957413 + ], + [ + -0.042013986352640906, + 0.03392971307039261, + 0.9985407256292113, + 0.000251016957918182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9988379178182748, + -0.01982775516808033, + 0.04392805400911901, + -0.022436700761318207 + ], + [ + 0.021287065875522447, + 0.9992284178733826, + -0.033005615281347184, + -0.03588953986763954 + ], + [ + -0.0432397318251184, + 0.033902358263731, + 0.998489326430365, + 0.0002875749778468162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9987843619735416, + -0.019777577370405197, + 0.04515192333088244, + -0.02231241948902607 + ], + [ + 0.021276174452290353, + 0.9992303848266602, + -0.03295439775963942, + -0.03584954887628555 + ], + [ + -0.044465413087955576, + 0.0338749960064888, + 0.9984364401483332, + 0.000324098247801885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9987292637942117, + -0.019727405160665512, + 0.046375725754906526, + -0.02218814566731453 + ], + [ + 0.021265195806011935, + 0.999232292175293, + -0.0329032624445577, + -0.03580956161022186 + ], + [ + -0.04569102437440454, + 0.033847637474536896, + 0.998382007392689, + 0.00036063720472157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9986726828324214, + -0.019677232950925827, + 0.047599463350406206, + -0.022063853219151497 + ], + [ + 0.021254123285160593, + 0.9992341995239258, + -0.03285219126201011, + -0.03576957806944847 + ], + [ + -0.046916567747065936, + 0.033820271492004395, + 0.9983260877271908, + 0.00039714123704470694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9986145595710103, + -0.01962706632912159, + 0.04882313208537678, + -0.02193954959511757 + ], + [ + 0.02124295913275724, + 0.9992361068725586, + -0.032801187952363364, + -0.035729605704545975 + ], + [ + -0.04814204699381554, + 0.033792894333601, + 0.998268680852203, + 0.00043361031566746533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985550132710711, + -0.0195769015699625, + 0.05004673461812251, + -0.021815231069922447 + ], + [ + 0.02123170772678722, + 0.9992380142211914, + -0.03275025983216943, + -0.035689644515514374 + ], + [ + -0.049367452894447376, + 0.0337655134499073, + 0.9982097873591141, + 0.00047004417865537107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9984939248311194, + -0.019526740536093712, + 0.051270264599703304, + -0.02169092185795307 + ], + [ + 0.021220366577989074, + 0.9992399215698242, + -0.03269939601743458, + -0.03564968332648277 + ], + [ + -0.050592783138379976, + 0.033738117665052414, + 0.9981493476253285, + 0.0005064947181381285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9984312947431366, + -0.01947658509016037, + 0.052493714481057635, + -0.02156659960746765 + ], + [ + 0.021208934494474398, + 0.999241828918457, + -0.03264860421332881, + -0.035609714686870575 + ], + [ + -0.05181803447545747, + 0.033710721880197525, + 0.9980874216034311, + 0.000542909896466881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983671818776295, + -0.019426429644227028, + 0.05371709594660761, + -0.02144228108227253 + ], + [ + 0.0211974129403354, + 0.9992437362670898, + -0.032597876996375674, + -0.035569753497838974 + ], + [ + -0.053043210037866044, + 0.03368331864476204, + 0.998023949272957, + 0.0005793423042632639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9983015869944372, + -0.019376285374164585, + 0.05494039792789968, + -0.021317951381206512 + ], + [ + 0.02118580714479749, + 0.9992456436157229, + -0.03254723280322324, + -0.03552979975938797 + ], + [ + -0.05426831114160643, + 0.03365591168403626, + 0.9979590500211883, + 0.0006157386815175414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982345097710221, + -0.019326139241456985, + 0.05616362421821343, + -0.02119360864162445 + ], + [ + 0.02117411031783296, + 0.9992475509643555, + -0.03249665360461897, + -0.03548985719680786 + ], + [ + -0.05549332905173238, + 0.033628497272729874, + 0.9978926049227317, + 0.0006521003670059144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981658912891443, + -0.019275993108749393, + 0.057386762900191644, + -0.021069269627332687 + ], + [ + 0.021162317302263915, + 0.9992493987083437, + -0.03244614368766099, + -0.035449907183647156 + ], + [ + -0.05671825992934585, + 0.033601071685552604, + 0.997824614229869, + 0.0006884787580929697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9980957905131642, + -0.019225856289267543, + 0.05860982405909754, + -0.02094491757452488 + ], + [ + 0.021150441529437233, + 0.9992513060569765, + -0.03239570591521819, + -0.035409968346357346 + ], + [ + -0.057943111055264375, + 0.03357363864779473, + 0.9977551969098027, + 0.0007248217589221895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9980242079649074, + -0.01917572133243084, + 0.0598328003441264, + -0.020820556208491325 + ], + [ + 0.021138479437555407, + 0.9992532134056091, + -0.03234534069874761, + -0.03537004068493843 + ], + [ + -0.05916787330383494, + 0.03354620561003685, + 0.9976842340672195, + 0.0007611290202476084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9979510840346176, + -0.01912558451294899, + 0.061055688928823355, + -0.02069619670510292 + ], + [ + 0.021126420039498967, + 0.9992550611495972, + -0.03229504906086474, + -0.03533010557293892 + ], + [ + -0.06039254945489731, + 0.03351876512169838, + 0.9976117852331461, + 0.0007974536856636405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9978764785405333, + -0.019075460731983185, + 0.06227848895154358, + -0.02057182602584362 + ], + [ + 0.021114281755096977, + 0.99925696849823, + -0.032244825946570244, + -0.035290174186229706 + ], + [ + -0.06161712918327073, + 0.03349132090806961, + 0.9975377914039354, + 0.0008337426697835326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9978003915891048, + -0.01902533881366253, + 0.06350119863383373, + -0.020447444170713425 + ], + [ + 0.021102053279714275, + 0.999258816242218, + -0.03219466866623472, + -0.035250261425971985 + ], + [ + -0.06284161911296772, + 0.03346386179327965, + 0.997462311811437, + 0.0008699969621375203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9977227631162533, + -0.018975213170051575, + 0.06472382052198125, + -0.020323066040873528 + ], + [ + 0.021089729794524344, + 0.9992607235908508, + -0.03214458525265819, + -0.03521034121513367 + ], + [ + -0.06406602302694715, + 0.03343639522790909, + 0.9973853460991112, + 0.0009062679600901902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976437134163413, + -0.018925096839666367, + 0.06594634597867054, + -0.020198674872517586 + ], + [ + 0.021077325075728272, + 0.9992625713348389, + -0.03209458219090585, + -0.035170432180166245 + ], + [ + -0.06529032243396576, + 0.03340892866253853, + 0.9973068957711816, + 0.0009425031021237373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9975630631769117, + -0.018874982371926308, + 0.06716877301044383, + -0.0200742706656456 + ], + [ + 0.021064830287770283, + 0.9992644190788269, + -0.03204464167265597, + -0.03513052687048912 + ], + [ + -0.06651452531208389, + 0.03338145092129707, + 0.9972269003177858, + 0.0009787040762603283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9974809911499206, + -0.018824871629476547, + 0.06839110933451265, + -0.01994987204670906 + ], + [ + 0.021052248692844503, + 0.9992663264274597, + -0.031994778526040164, + -0.035090625286102295 + ], + [ + -0.06773862926439196, + 0.03335396945476532, + 0.9971454197226173, + 0.0010149208828806877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9973973788408634, + -0.018774762749671936, + 0.06961334107905269, + -0.019825462251901627 + ], + [ + 0.021039577950483817, + 0.9992681741714478, + -0.031944985625261615, + -0.03505072370171547 + ], + [ + -0.06896263436185375, + 0.03332647681236267, + 0.9970624539456039, + 0.0010511029977351427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973122258912157, + -0.018724659457802773, + 0.07083547183723357, + -0.019701037555933 + ], + [ + 0.021026822244867384, + 0.9992700219154358, + -0.031895266491999454, + -0.03501083329319954 + ], + [ + -0.07018653539326296, + 0.03329898416996002, + 0.9969779435704906, + 0.001087249256670475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9972256519859886, + -0.018674559891223907, + 0.07205750105240263, + -0.01957661658525467 + ], + [ + 0.021013979541447115, + 0.9992718696594238, + -0.0318456177106869, + -0.03497094288468361 + ], + [ + -0.0714103301594305, + 0.03327148035168648, + 0.9968919485953543, + 0.0011234123958274722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9971375376812323, + -0.01862446404993534, + 0.07327942559481145, + -0.019452188163995743 + ], + [ + 0.021001046273611018, + 0.9992737174034119, + -0.03179603975411716, + -0.034931063652038574 + ], + [ + -0.07263401873179288, + 0.033243972808122635, + 0.9968044689867194, + 0.0011595413088798523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9970479426261434, + -0.018574370071291927, + 0.07450124711241485, + -0.019327742978930473 + ], + [ + 0.020988028834845657, + 0.9992755651474001, + -0.031746539674435664, + -0.03489118441939354 + ], + [ + -0.07385759941406987, + 0.033216454088687904, + 0.996715445010312, + 0.0011956337839365005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9969568082830494, + -0.018524279817938805, + 0.07572295086700874, + -0.0192033052444458 + ], + [ + 0.020974925191725745, + 0.9992774128913879, + -0.0316971140614022, + -0.0348513126373291 + ], + [ + -0.07508107018170695, + 0.03318893536925316, + 0.996624996531751, + 0.0012317432556301355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968641938027952, + -0.018474197015166283, + 0.07694454420325358, + -0.019078858196735382 + ], + [ + 0.020961734799481536, + 0.999279260635376, + -0.031647755630159695, + -0.034811437129974365 + ], + [ + -0.07630442004533153, + 0.033161409199237823, + 0.996532944965213, + 0.0012678172206506133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9967700984319012, + -0.01842411234974861, + 0.07816603461536896, + -0.018954388797283173 + ], + [ + 0.020948456644764447, + 0.999281108379364, + -0.03159847210946445, + -0.03477158024907112 + ], + [ + -0.07752766570023964, + 0.033133868128061295, + 0.9964394683050317, + 0.0013038567267358303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9966744638431612, + -0.01837403140962124, + 0.079387405317166, + -0.01882993057370186 + ], + [ + 0.020935088672070157, + 0.9992828965187073, + -0.03154926010887544, + -0.03473171591758728 + ], + [ + -0.07875079222967475, + 0.03310632333159447, + 0.996344448184274, + 0.001339912530966103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.996577408835728, + -0.018323954194784164, + 0.0806086659405622, + -0.01870546117424965 + ], + [ + 0.020921639167456697, + 0.9992847442626953, + -0.031500126463683914, + -0.034691862761974335 + ], + [ + -0.0799737997490992, + 0.03307878226041794, + 0.9962479444425429, + 0.0013759327121078968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9964787554007032, + -0.018273886293172836, + 0.08182979915788592, + -0.018580975010991096 + ], + [ + 0.02090810571182936, + 0.9992865920066833, + -0.03145106406111467, + -0.03465201333165169 + ], + [ + -0.08119669203704806, + 0.03305122256278992, + 0.9961499566807865, + 0.001411918899975717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9963786816382537, + -0.018223818391561508, + 0.08305082059741707, + -0.01845649629831314 + ], + [ + 0.020894482889229765, + 0.9992884397506714, + -0.03140207358377907, + -0.03461216017603874 + ], + [ + -0.08241945396442085, + 0.0330236591398716, + 0.9960504264664879, + 0.0014479209203273058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9962770690619596, + -0.01817375235259533, + 0.08427171668435428, + -0.018332000821828842 + ], + [ + 0.020880777155068083, + 0.9992902278900146, + -0.031353162026835524, + -0.03457232192158699 + ], + [ + -0.0836420969643957, + 0.03299609199166298, + 0.9959494125331925, + 0.0014838874340057373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9961739769373856, + -0.018123690038919452, + 0.08549249336194725, + -0.01820751652121544 + ], + [ + 0.020866981225123437, + 0.9992920756340029, + -0.0313043115522422, + -0.03453247621655464 + ], + [ + -0.08486461740045279, + 0.032968509942293174, + 0.9958469152095859, + 0.0015198710607364774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960693466857244, + -0.018073633313179016, + 0.0867131371685308, + -0.01808299869298935 + ], + [ + 0.020853103448203007, + 0.999293863773346, + -0.03125554767236769, + -0.03449266031384468 + ], + [ + -0.08608700551058719, + 0.032940931618213654, + 0.995742875545647, + 0.001555767492391169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9959632367981833, + -0.018023576587438587, + 0.08793366158874831, + -0.0179585088044405 + ], + [ + 0.02083913691244089, + 0.9992957115173342, + -0.031206856267635825, + -0.03445281460881233 + ], + [ + -0.08730927355344947, + 0.03291334211826325, + 0.9956374120882391, + 0.0015917327255010605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9958556483803777, + -0.017973529174923897, + 0.08915405558304053, + -0.017833983525633812 + ], + [ + 0.020825091026695514, + 0.9992974996566772, + -0.03115823650405377, + -0.03441299870610237 + ], + [ + -0.08853139932005989, + 0.03288574889302254, + 0.9955303473381972, + 0.0016276101814582944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9957465811978419, + -0.01792348176240921, + 0.09037432108126667, + -0.017709465697407722 + ], + [ + 0.020810956279249927, + 0.9992992877960205, + -0.031109685777928105, + -0.03437317907810211 + ], + [ + -0.08975339960314681, + 0.032858140766620636, + 0.9954218593022955, + 0.0016635049832984805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.995635976139591, + -0.017873438075184822, + 0.0915944499216981, + -0.01758493110537529 + ], + [ + 0.02079673850494339, + 0.9993010759353638, + -0.031061222353742056, + -0.03433335945010185 + ], + [ + -0.0909752637475997, + 0.03283053636550903, + 0.9953118291999288, + 0.0016993641620501876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.995523892734697, + -0.01782339997589588, + 0.09281444565950493, + -0.01746038906276226 + ], + [ + 0.020782437734567314, + 0.9993029236793518, + -0.031012827638276782, + -0.034293562173843384 + ], + [ + -0.09219698882052738, + 0.032802924513816833, + 0.9952003172653191, + 0.001735188066959381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9954102716901687, + -0.01777336187660694, + 0.09403430185533178, + -0.01733584702014923 + ], + [ + 0.020768049769154216, + 0.9993047118186951, + -0.030964513476938, + -0.03425375372171402 + ], + [ + -0.09341858044826296, + 0.03277530148625374, + 0.9950873228628739, + 0.0017710288520902395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9952952317648934, + -0.0177233275026083, + 0.09525402877537122, + -0.017211299389600754 + ], + [ + 0.020753576838414837, + 0.9993064999580383, + -0.030916264788007197, + -0.03421395644545555 + ], + [ + -0.09464002841658958, + 0.032747674733400345, + 0.9949727871147062, + 0.0018068348290398717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9951786548382835, + -0.017673300579190258, + 0.09647360969688998, + -0.017086753621697426 + ], + [ + 0.020739024843830438, + 0.9993082880973818, + -0.030868099799049472, + -0.034174155443906784 + ], + [ + -0.09586133184235791, + 0.03272004052996636, + 0.9948567700634839, + 0.0018426567548885942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9950605404705857, + -0.01762327365577221, + 0.09769304820373029, + -0.016962194815278053 + ], + [ + 0.020724380765755283, + 0.9993100762367249, + -0.0308200013737022, + -0.034134358167648315 + ], + [ + -0.09708249912606856, + 0.03269239515066147, + 0.994739270741296, + 0.0018784435233101249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9949409487948317, + -0.017573250457644463, + 0.09891234262404537, + -0.016837622970342636 + ], + [ + 0.020709657527248952, + 0.9993118643760681, + -0.030771983202629475, + -0.03409457579255104 + ], + [ + -0.09830351338212157, + 0.032664746046066284, + 0.9946202310368221, + 0.0019141952507197857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9948198794517364, + -0.017523229122161865, + 0.10013149581053567, + -0.016713038086891174 + ], + [ + 0.02069484803763599, + 0.9993136525154114, + -0.030724031238647864, + -0.03405480086803436 + ], + [ + -0.09952438502818708, + 0.032637085765600204, + 0.9944997097256241, + 0.0019499115878716111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9946973333585977, + -0.017473215237259865, + 0.10135049951314208, + -0.01658845879137516 + ], + [ + 0.020679956428987418, + 0.9993154406547546, + -0.03067616390483188, + -0.03401501849293709 + ], + [ + -0.10074510395777365, + 0.032609425485134125, + 0.9943777079464953, + 0.0019856453873217106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9945732504160595, + -0.017423205077648163, + 0.1025693542390574, + -0.0164638664573431 + ], + [ + 0.020664986149761925, + 0.9993171691894531, + -0.030628377190257502, + -0.03397525101900101 + ], + [ + -0.10196567764258314, + 0.03258176147937775, + 0.9942542248075773, + 0.0020213427487760782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944476903220729, + -0.01737319864332676, + 0.10378806227888984, + -0.01633928343653679 + ], + [ + 0.020649929093026802, + 0.9993189573287964, + -0.030580664689189387, + -0.03393547609448433 + ], + [ + -0.10318609634188584, + 0.03255408629775047, + 0.9941292013997051, + 0.0020570573396980762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9943206541327017, + -0.01732319034636021, + 0.10500661446099513, + -0.016214681789278984 + ], + [ + 0.020634787257850513, + 0.9993207454681399, + -0.030533026320082396, + -0.03389571234583855 + ], + [ + -0.1044063559336425, + 0.03252640739083291, + 0.9940026982098439, + 0.002092736540362239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9941920818629593, + -0.01727319322526455, + 0.106225010170911, + -0.016090072691440582 + ], + [ + 0.020619566788604025, + 0.9993225336074829, + -0.030485465243536472, + -0.03385595232248306 + ], + [ + -0.10562645764699978, + 0.03249872103333473, + 0.9938746550409306, + 0.0021283808164298534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9940620334356682, + -0.017223196104168892, + 0.10744325004731005, + -0.01596546545624733 + ], + [ + 0.020604258641655705, + 0.9993242621421814, + -0.030437967686131603, + -0.03381619602441788 + ], + [ + -0.10684640934380207, + 0.03247101977467537, + 0.9937451909861303, + 0.0021640416234731674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9939304495395681, + -0.017173198983073238, + 0.10866132779694751, + -0.015840847045183182 + ], + [ + 0.02058886981934738, + 0.9993260502815249, + -0.030390559217062976, + -0.03377644345164299 + ], + [ + -0.10806619577612193, + 0.032443314790725715, + 0.9936141877873802, + 0.0021996672730892897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937974487912431, + -0.017123209312558174, + 0.10987925524637286, + -0.01571621745824814 + ], + [ + 0.020573398679515482, + 0.9993277788162231, + -0.030343225170382893, + -0.033736702054739 + ], + [ + -0.10928581404698688, + 0.03241560608148575, + 0.9934816457756629, + 0.00223525776527822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9936629131870225, + -0.01707322709262371, + 0.11109701504598608, + -0.015591572970151901 + ], + [ + 0.020557849531600562, + 0.9993295669555664, + -0.030295968905315603, + -0.033696968108415604 + ], + [ + -0.11050527795596082, + 0.03238789737224579, + 0.9933476833375984, + 0.0022708126343786716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9935268428249933, + -0.0170232392847538, + 0.11231460615368309, + -0.015466934069991112 + ], + [ + 0.020542208664296607, + 0.9993312954902649, + -0.03024878478145389, + -0.03365723788738251 + ], + [ + -0.11172457186629542, + 0.032360173761844635, + 0.9932121822635622, + 0.0023063847329467535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9933893559319326, + -0.016973262652754784, + 0.1135320435576344, + -0.01534230262041092 + ], + [ + 0.02052649473583624, + 0.9993330240249634, + -0.030201685613784068, + -0.033617496490478516 + ], + [ + -0.1129437013589925, + 0.03233245015144348, + 0.9930752018978388, + 0.002341973129659891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993250334675507, + -0.01692328415811062, + 0.114749308596154, + -0.015217638574540615 + ], + [ + 0.02051069309316067, + 0.9993348121643066, + -0.03015465838705637, + -0.033577777445316315 + ], + [ + -0.11416265519079526, + 0.032304711639881134, + 0.992936683560482, + 0.002377474447712302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9931097793950067, + -0.016873311251401905, + 0.11596639838002505, + -0.01509297825396061 + ], + [ + 0.020494811744981595, + 0.9993365406990053, + -0.030107705980828545, + -0.033538054674863815 + ], + [ + -0.11538144767996514, + 0.032276969403028495, + 0.9927967455774136, + 0.0024129918310791254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.992967808876358, + -0.016823343932628635, + 0.11718332366919705, + -0.014968306757509708 + ], + [ + 0.020478851809049025, + 0.9993382692337038, + -0.030060835902088422, + -0.03349833935499191 + ], + [ + -0.11660005123078705, + 0.03224922344088555, + 0.9926552111948115, + 0.0024484749883413315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9928243042695115, + -0.01677337847650051, + 0.11840007372691883, + -0.014843642711639404 + ], + [ + 0.020462808789410883, + 0.9993399977684021, + -0.030014041368979262, + -0.03345862403512001 + ], + [ + -0.11781849173285106, + 0.032221466302871704, + 0.9925122573411017, + 0.0024839742109179497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.992679325242884, + -0.01672341860830784, + 0.11961665169472414, + -0.014718964695930481 + ], + [ + 0.02044668702224235, + 0.9993417263031006, + -0.02996732571304214, + -0.033418912440538406 + ], + [ + -0.11903674907961036, + 0.032193709164857864, + 0.9923677663996867, + 0.002519437810406089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9925328128021642, + -0.016673460602760315, + 0.12083304878343264, + -0.014594272710382938 + ], + [ + 0.02043047829261974, + 0.9993434548377991, + -0.02992068266008582, + -0.033379215747117996 + ], + [ + -0.12025483201203647, + 0.03216593712568283, + 0.9922217973121429, + 0.002554867183789611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9923848266153649, + -0.01662350445985794, + 0.12204926826615442, + -0.014469589106738567 + ], + [ + 0.020414192126339402, + 0.9993451833724976, + -0.02987412611992245, + -0.03333951160311699 + ], + [ + -0.12147273598483274, + 0.0321381650865078, + 0.9920743506616674, + 0.002590312622487545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9922353662653939, + -0.016573552042245865, + 0.12326531298750726, + -0.014344893395900726 + ], + [ + 0.020397824342235835, + 0.999346911907196, + -0.029827638003303576, + -0.03329981490969658 + ], + [ + -0.1226904539199004, + 0.03211038187146187, + 0.9919253672333821, + 0.0026257229037582874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9920843739228732, + -0.016523605212569237, + 0.12448116565986334, + -0.014220181852579117 + ], + [ + 0.020381375255968632, + 0.9993486404418945, + -0.029781233453649865, + -0.03326013311743736 + ], + [ + -0.12390798460204253, + 0.03208259493112564, + 0.9917749073298024, + 0.002661098027601838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9919319077260532, + -0.016473662108182907, + 0.12569684082456653, + -0.014095475897192955 + ], + [ + 0.020364850578773967, + 0.999350368976593, + -0.029734911828804295, + -0.03322044387459755 + ], + [ + -0.12512533640587317, + 0.032054804265499115, + 0.991622969780176, + 0.002696489216759801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9917779686516114, + -0.01642372272908688, + 0.12691233117681927, + -0.013970756903290749 + ], + [ + 0.020348241039841338, + 0.999352037906647, + -0.029688659512867966, + -0.033180758357048035 + ], + [ + -0.1263425020205855, + 0.0320270024240017, + 0.9914695555668451, + 0.002731845946982503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9916224976416318, + -0.016373785212635994, + 0.12812762846307532, + -0.013846025802195072 + ], + [ + 0.020331553342649657, + 0.9993537664413452, + -0.029642483241304817, + -0.03314109146595001 + ], + [ + -0.1275594713422706, + 0.03199918940663338, + 0.9913146058978746, + 0.0027671675197780132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9914655543458042, + -0.01632385142147541, + 0.12934273634910795, + -0.013721304014325142 + ], + [ + 0.020314783679952843, + 0.9993554949760437, + -0.029596394982687183, + -0.03310141712427139 + ], + [ + -0.12877624987565717, + 0.03197137638926506, + 0.9911581801723681, + 0.002802504925057292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9913071378041312, + -0.016273923218250275, + 0.13055766136490018, + -0.013596566393971443 + ], + [ + 0.020297936187184357, + 0.9993571639060974, + -0.02955038301107361, + -0.03306175768375397 + ], + [ + -0.12999283384184865, + 0.031943559646606445, + 0.9910002186990351, + 0.0028378069400787354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9911472494196734, + -0.01622399501502514, + 0.1317723934439719, + -0.0134718157351017 + ], + [ + 0.020281009172212885, + 0.9993588924407959, + -0.029504447709408445, + -0.033022090792655945 + ], + [ + -0.131209231866411, + 0.031915731728076935, + 0.9908408406382853, + 0.0028730749618262053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9909858301751685, + -0.01617407612502575, + 0.13298692407461524, + -0.013347070664167404 + ], + [ + 0.020264005167430824, + 0.9993605613708496, + -0.029458592618111224, + -0.03298243135213852 + ], + [ + -0.13242542519400802, + 0.03188789635896683, + 0.9906799282363864, + 0.0029083590488880873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9908228801935708, + -0.01612415537238121, + 0.13420125221731838, + -0.013222313486039639 + ], + [ + 0.02024691750581314, + 0.9993622899055481, + -0.029412822618944397, + -0.03294278681278229 + ], + [ + -0.13364141278009517, + 0.03186005726456642, + 0.9905174816280616, + 0.0029436079785227776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9906585176599367, + -0.01607424020767212, + 0.13541539334612337, + -0.013097543269395828 + ], + [ + 0.02022975101323829, + 0.9993639588356018, + -0.029367118332539514, + -0.032903142273426056 + ], + [ + -0.13485721193632375, + 0.03183220326900482, + 0.9903536187377191, + 0.0029788215178996325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9904926248687203, + -0.016024328768253326, + 0.13662932832349017, + -0.012972780503332615 + ], + [ + 0.020212507256414988, + 0.9993656277656555, + -0.029321502262074535, + -0.032863494008779526 + ], + [ + -0.13607280351927512, + 0.03180435672402382, + 0.9901882218655389, + 0.0030140515882521868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9903252610266754, + -0.01597442291676998, + 0.1378430640356556, + -0.012848001904785633 + ], + [ + 0.020195187160961848, + 0.999367356300354, + -0.02927596687900045, + -0.03282385692000389 + ], + [ + -0.1372881837205889, + 0.03177649527788162, + 0.9900212915560108, + 0.003049246734008193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9901563674347161, + -0.015924515202641487, + 0.13905658980488225, + -0.012723231688141823 + ], + [ + 0.020177782774511852, + 0.9993690252304077, + -0.029230502220961276, + -0.03278421238064766 + ], + [ + -0.13850337023944956, + 0.03174862265586853, + 0.9898529456767441, + 0.003084458177909255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9899860623501052, + -0.01587461680173874, + 0.14026992070229266, + -0.012598427943885326 + ], + [ + 0.020160306240579448, + 0.9993706941604614, + -0.029185125439180223, + -0.032744597643613815 + ], + [ + -0.13971834078375958, + 0.03172075003385544, + 0.9896830670129318, + 0.003119582310318947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9898141693823835, + -0.01582472026348114, + 0.14148302711443564, + -0.012473632581532001 + ], + [ + 0.020142749252377395, + 0.9993723630905151, + -0.029139830399269633, + -0.032704971730709076 + ], + [ + -0.1409331033504793, + 0.031692877411842346, + 0.9895117146226805, + 0.0031547232065349817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9896408648432634, + -0.01577482372522354, + 0.14269593880610992, + -0.01234884187579155 + ], + [ + 0.020125111759485118, + 0.9993740320205688, + -0.029094609723375898, + -0.03266534209251404 + ], + [ + -0.1421476498254279, + 0.03166498988866806, + 0.9893388294280547, + 0.0031898815650492907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9894660317209776, + -0.01572493650019169, + 0.14390863218441197, + -0.012224039994180202 + ], + [ + 0.02010740022517519, + 0.9993757009506226, + -0.02904947386597571, + -0.032625727355480194 + ], + [ + -0.1433619947418612, + 0.031637098640203476, + 0.9891645297828935, + 0.0032250036019831896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9892897287473728, + -0.01567504927515984, + 0.14512111728543098, + -0.012099221348762512 + ], + [ + 0.02008960757455186, + 0.9993773698806765, + -0.02900441275879317, + -0.03258611634373665 + ], + [ + -0.1445761189752394, + 0.031609192490577705, + 0.9889886979979903, + 0.0032600911799818277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9891118981619333, + -0.015625163912773136, + 0.14633337752556938, + -0.011974393390119076 + ], + [ + 0.020071736033496747, + 0.9993790388107302, + -0.028959433746440597, + -0.0325465202331543 + ], + [ + -0.14579001688190443, + 0.031581286340951926, + 0.9888113349392187, + 0.003295142436400056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9889326575486707, + -0.015575285069644455, + 0.14754543243397397, + -0.011849569156765938 + ], + [ + 0.020053790368369948, + 0.9993807077407839, + -0.028914536220897392, + -0.03250692039728165 + ], + [ + -0.14700370614574784, + 0.03155337274074555, + 0.988632558488975, + 0.0033302109222859144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9887518299804936, + -0.015525411814451221, + 0.14875725583671817, + -0.011724735610187054 + ], + [ + 0.02003576949451015, + 0.9993823766708376, + -0.028869724263235225, + -0.032467320561409 + ], + [ + -0.14821717185467145, + 0.031525462865829475, + 0.9884522502917891, + 0.003365244483575225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9885695922975667, + -0.01547553762793541, + 0.14996887405730086, + -0.01159988809376955 + ], + [ + 0.02001766570086073, + 0.9993840456008911, + -0.028824984164204464, + -0.03242773562669754 + ], + [ + -0.14943041020544165, + 0.0314975269138813, + 0.9882704109271134, + 0.0034002421889454126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9883858282444261, + -0.015425669960677624, + 0.15118025905735838, + -0.011475041508674622 + ], + [ + 0.019999488266709706, + 0.9993856549263, + -0.02878032589810838, + -0.032388150691986084 + ], + [ + -0.15064343283199, + 0.031469590961933136, + 0.9880871592494352, + 0.003435257589444518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9882005963488926, + -0.015375804156064987, + 0.152391422180018, + -0.01135019026696682 + ], + [ + 0.019981232762308634, + 0.9993873238563538, + -0.028735750323834557, + -0.03234856575727463 + ], + [ + -0.15185622075800906, + 0.03144165500998497, + 0.9879023775609918, + 0.003470237134024501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9880138965730568, + -0.015325943008065224, + 0.15360236350082418, + -0.011225338093936443 + ], + [ + 0.019962899669709218, + 0.9993889331817627, + -0.028691253736364074, + -0.03230898454785347 + ], + [ + -0.15306878538411856, + 0.03141370788216591, + 0.9877161243771011, + 0.0035052327439188957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9878256705282052, + -0.015276085585355759, + 0.15481307058838048, + -0.01110047847032547 + ], + [ + 0.019944492510629026, + 0.9993906021118164, + -0.028646839474591786, + -0.03226940333843231 + ], + [ + -0.1542811124357284, + 0.03138575330376625, + 0.9875283416195618, + 0.003540193662047386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9876359773035662, + -0.015226231887936596, + 0.15602355130123516, + -0.010975601151585579 + ], + [ + 0.019926008390772184, + 0.9993922114372256, + -0.02860251193581072, + -0.032229840755462646 + ], + [ + -0.1554932214179841, + 0.0313577950000763, + 0.9873391468739473, + 0.0035751189570873976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9874448168586853, + -0.015176380053162575, + 0.1572338057143942, + -0.010850711725652218 + ], + [ + 0.01990744624105386, + 0.999393880367279, + -0.028558252561705008, + -0.032190289348363876 + ], + [ + -0.15670509099981345, + 0.03132982179522514, + 0.98714842282127, + 0.003610010026022792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9872521319312108, + -0.01512653473764658, + 0.15844381477631805, + -0.010725829750299454 + ], + [ + 0.019888811449529867, + 0.999395489692688, + -0.028514087031660893, + -0.03215072676539421 + ], + [ + -0.15791671371123864, + 0.03130185231566429, + 0.9869561707022259, + 0.003644916694611311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9870579800394385, + -0.015076691284775734, + 0.15965359572387894, + -0.010600936599075794 + ], + [ + 0.019870099589530343, + 0.9993971586227417, + -0.02847000490308003, + -0.032111167907714844 + ], + [ + -0.1591281149544936, + 0.03127387538552284, + 0.9867625071122808, + 0.0036797886714339256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9868623033279383, + -0.015026850625872612, + 0.16086313305091474, + -0.01047604437917471 + ], + [ + 0.01985131048951495, + 0.9993987679481506, + -0.028425998795577657, + -0.032071616500616074 + ], + [ + -0.16033927117633187, + 0.031245891004800797, + 0.9865673151126018, + 0.0037146771792322397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9866652197381739, + -0.014977015554904938, + 0.16207244415773764, + -0.010351146571338177 + ], + [ + 0.019832448314731372, + 0.9994003772735596, + -0.028382075697384213, + -0.0320320688188076 + ], + [ + -0.16155017766429614, + 0.031217899173498154, + 0.9863705954940312, + 0.003749529831111431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9864666119087747, + -0.014927184209227562, + 0.1632815079948945, + -0.010226231068372726 + ], + [ + 0.019813511397742192, + 0.9994019865989685, + -0.028338236035087363, + -0.03199252858757973 + ], + [ + -0.16276085561428028, + 0.031189901754260063, + 0.9861724655564937, + 0.003784347092732787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9862664805553732, + -0.014877352863550186, + 0.16449032031598027, + -0.010101323015987873 + ], + [ + 0.019794494313249495, + 0.9994035959243774, + -0.0282944695548964, + -0.03195299208164215 + ], + [ + -0.16397127925523663, + 0.031161891296505928, + 0.9859728087667089, + 0.003819182049483061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9860649427629338, + -0.014827528968453407, + 0.16569890349637664, + -0.009976383298635483 + ], + [ + 0.01977540776189959, + 0.9994052648544312, + -0.028250793442072413, + -0.03191347420215607 + ], + [ + -0.16518146154624128, + 0.031133878976106644, + 0.9857716833555726, + 0.0038539294619113207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9858618814766646, + -0.014777708798646927, + 0.16690723472427094, + -0.009851466864347458 + ], + [ + 0.019756244483911417, + 0.9994068741798401, + -0.028207197763056007, + -0.03187393769621849 + ], + [ + -0.16639138941192186, + 0.03110586106777191, + 0.9855690310822826, + 0.0038887455593794584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9856572975872518, + -0.014727888628840446, + 0.16811530883832362, + -0.00972652155905962 + ], + [ + 0.019737005291306356, + 0.999408483505249, + -0.028163686306281726, + -0.031834423542022705 + ], + [ + -0.1676010676849639, + 0.031077835708856583, + 0.9853649116082729, + 0.003923473414033651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9854513077774174, + -0.014678074046969414, + 0.16932315043205315, + -0.009601579047739506 + ], + [ + 0.019717691530539958, + 0.9994100332260132, + -0.028120255194674572, + -0.03179490193724632 + ], + [ + -0.16881050102045195, + 0.031049802899360657, + 0.9851593240905696, + 0.003958219662308693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9852437964686029, + -0.014628264121711254, + 0.17053072851773224, + -0.00947662815451622 + ], + [ + 0.019698306770487634, + 0.9994116425514221, + -0.028076907712463448, + -0.031755395233631134 + ], + [ + -0.17001967894626582, + 0.031021766364574432, + 0.9849522703893644, + 0.003992929123342037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.985034762259025, + -0.014578456990420818, + 0.17173805076930604, + -0.009351678192615509 + ], + [ + 0.01967884501578484, + 0.999413251876831, + -0.028033641295667995, + -0.03171588480472565 + ], + [ + -0.1712285977577303, + 0.030993718653917313, + 0.9847436905978946, + 0.004027655813843012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9848243243229842, + -0.014528652653098106, + 0.17294512795924594, + -0.009226719848811626 + ], + [ + 0.019659309262878042, + 0.99941486120224, + -0.027990461229265722, + -0.03167637437582016 + ], + [ + -0.17243725934089366, + 0.030965669080615044, + 0.9845336449336483, + 0.004062346648424864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9846123643461133, + -0.014478851109743118, + 0.174151944296149, + -0.009101749397814274 + ], + [ + 0.019639699014913373, + 0.9994164705276489, + -0.02794736396268312, + -0.031636886298656464 + ], + [ + -0.17364566834754575, + 0.03093761019408703, + 0.9843221325356606, + 0.00409700209274888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9843988839245912, + -0.014429057016968727, + 0.17535849096034017, + -0.00897678080946207 + ], + [ + 0.0196200183380639, + 0.9994180202484131, + -0.027904345100915738, + -0.03159738704562187 + ], + [ + -0.17485380530300818, + 0.030909541994333267, + 0.9841090963634224, + 0.004131675697863102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9841840000089914, + -0.014379264786839485, + 0.17656479102374092, + -0.008851801045238972 + ], + [ + 0.019600261421202535, + 0.999419629573822, + -0.027861413434259952, + -0.03155789524316788 + ], + [ + -0.17606168236736217, + 0.030881471931934357, + 0.9838945947780526, + 0.004166313447058201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9839675950975739, + -0.014329474419355392, + 0.17777082418476356, + -0.008726806379854679 + ], + [ + 0.01958043073354131, + 0.9994211792945862, + -0.02781856107521649, + -0.03151841461658478 + ], + [ + -0.17726930098407387, + 0.0308533925563097, + 0.9836786274949856, + 0.004200915805995464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9837496702142186, + -0.014279690571129322, + 0.17897658483269466, + -0.008601821959018707 + ], + [ + 0.019560529067408964, + 0.9994227886199951, + -0.027775797117240743, + -0.03147893026471138 + ], + [ + -0.17847665481497085, + 0.030825309455394745, + 0.9834611956833514, + 0.004235533531755209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9835303424848906, + -0.014229905791580677, + 0.180182095049512, + -0.008476820774376392 + ], + [ + 0.019540551210876167, + 0.9994243383407593, + -0.027733113208466872, + -0.03143945336341858 + ], + [ + -0.1796837346617944, + 0.030797217041254044, + 0.9832422404115057, + 0.0042701177299022675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9833094958668677, + -0.014180131256580356, + 0.18138732682812014, + -0.008351809345185757 + ], + [ + 0.019520506032998267, + 0.9994259476661684, + -0.027690515394338987, + -0.031399987637996674 + ], + [ + -0.18089054470340274, + 0.0307691190391779, + 0.9830218215394668, + 0.004304666072130203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9830871883814106, + -0.014130355790257454, + 0.18259229402468147, + -0.008226804435253143 + ], + [ + 0.01950038386003567, + 0.9994274973869324, + -0.027648001863875782, + -0.03136052191257477 + ], + [ + -0.18209707652807158, + 0.030741015449166298, + 0.9827998799855087, + 0.0043392302468419075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9828633623438794, + -0.014080582186579704, + 0.18379698084895912, + -0.00810178555548191 + ], + [ + 0.019480189079779837, + 0.9994290471076965, + -0.0276055700313348, + -0.03132105991244316 + ], + [ + -0.1833033480242439, + 0.030712904408574104, + 0.9825765336865772, + 0.004373759962618351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9826380762718915, + -0.014030814170837402, + 0.18500139854033615, + -0.007976753637194633 + ], + [ + 0.019459922206757522, + 0.9994306564331055, + -0.027563221836458145, + -0.03128160163760185 + ], + [ + -0.18450933674323536, + 0.030684784054756165, + 0.9823516655562974, + 0.004408254288136959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9824113308410374, + -0.013981052674353123, + 0.1862055435170796, + -0.007851730100810528 + ], + [ + 0.019439586862750068, + 0.9994322061538696, + -0.027520960509991515, + -0.03124215267598629 + ], + [ + -0.1857150389063444, + 0.030656661838293076, + 0.982125276316278, + 0.00444276537746191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9821830674416857, + -0.013931291177868843, + 0.1874094048276507, + -0.007726691663265228 + ], + [ + 0.019419173204729405, + 0.9994337558746338, + -0.027478778626327537, + -0.031202703714370728 + ], + [ + -0.18692047781768414, + 0.03062852844595909, + 0.9818974828668526, + 0.004477240610867739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9819534032933009, + -0.013881535269320011, + 0.18861300408003576, + -0.007601641118526459 + ], + [ + 0.019398692325512747, + 0.999435305595398, + -0.027436683648610165, + -0.03116326779127121 + ], + [ + -0.18812562927208615, + 0.03060038946568966, + 0.9816681684599229, + 0.004511681385338306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9817221638367217, + -0.013831784017384056, + 0.1898163021360849, + -0.007476595230400562 + ], + [ + 0.01937814166059949, + 0.9994368553161623, + -0.02739467621575944, + -0.031123826280236244 + ], + [ + -0.18933050019159425, + 0.030572248622775085, + 0.9814373924712106, + 0.004546138923615217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9814895248309086, + -0.013782033696770671, + 0.19101933188964737, + -0.007351537700742483 + ], + [ + 0.019357514083747408, + 0.9994384050369265, + -0.027352748392957572, + -0.031084392219781876 + ], + [ + -0.19053507714445955, + 0.030544096603989608, + 0.9812050967930424, + 0.004580561071634293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9812553691487178, + -0.013732288032770157, + 0.19222207104093667, + -0.007226469460874796 + ], + [ + 0.0193368188855942, + 0.9994399547576904, + -0.027310907970465887, + -0.031044969335198402 + ], + [ + -0.19173937266316957, + 0.030515938997268677, + 0.9809713396947295, + 0.004614946432411671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9810197565035695, + -0.013682547025382519, + 0.19342452488602546, + -0.007101407274603844 + ], + [ + 0.019316051853817937, + 0.9994415044784546, + -0.02726915213129402, + -0.03100554831326008 + ], + [ + -0.192943380426971, + 0.030487775802612305, + 0.9807361224359898, + 0.004649349022656679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9807826278101818, + -0.01363280788064003, + 0.19462668482788473, + -0.006976329255849123 + ], + [ + 0.019295212614145886, + 0.9994430541992188, + -0.027227482997109316, + -0.030966127291321754 + ], + [ + -0.19414710370263447, + 0.030459605157375336, + 0.9804994443514855, + 0.004683717153966427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9805440423963924, + -0.013583073392510418, + 0.19582855811812844, + -0.006851242855191231 + ], + [ + 0.019274303332503514, + 0.9994445443153384, + -0.027185896471087646, + -0.030926717445254326 + ], + [ + -0.19535052606459166, + 0.030431427061557777, + 0.9802612479426693, + 0.004718049429357052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.98030400013623, + -0.013533340767025948, + 0.1970301452883375, + -0.006726157385855913 + ], + [ + 0.019253321057826168, + 0.9994460940361023, + -0.027144391396580148, + -0.030887307599186897 + ], + [ + -0.1965536598442722, + 0.030403239652514458, + 0.98002159151649, + 0.004752398934215307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9800625021206824, + -0.013483613729476932, + 0.198231440940056, + -0.006601059343665838 + ], + [ + 0.019232271479379046, + 0.9994476437568667, + -0.027102976255940867, + -0.030847903341054916 + ], + [ + -0.19775649963875286, + 0.030375052243471153, + 0.9797804761727955, + 0.004786713048815727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.979819489963631, + -0.013433892279863358, + 0.1994324330254998, + -0.006475950591266155 + ], + [ + 0.019211153644800947, + 0.9994491338729858, + -0.02706164567513787, + -0.030808506533503532 + ], + [ + -0.19895903339580218, + 0.030346855521202087, + 0.979537843534333, + 0.004820991773158312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9795750220167553, + -0.013384170830249786, + 0.20063313361609245, + -0.006350851152092218 + ], + [ + 0.019189960046493867, + 0.99945068359375, + -0.027020399454907345, + -0.030769111588597298 + ], + [ + -0.20016127409406, + 0.030318651348352432, + 0.9792937517712141, + 0.004855287726968527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9793290409619385, + -0.013334454037249088, + 0.20183352552087236, + -0.0062257335521280766 + ], + [ + 0.019168700584467183, + 0.9994521737098694, + -0.026979243289261098, + -0.03072972036898136 + ], + [ + -0.20136321496662565, + 0.03029044345021248, + 0.9790482022859122, + 0.0048895468935370445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9790816632071496, + -0.013284740969538689, + 0.2030336343949969, + -0.006100624334067106 + ], + [ + 0.01914736896232004, + 0.9994537234306335, + -0.026938169121326266, + -0.030690329149365425 + ], + [ + -0.20256484559241592, + 0.03026222623884678, + 0.9788011363584406, + 0.004923823289573193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9788327723542036, + -0.013235030695796013, + 0.2042334343781794, + -0.005975483451038599 + ], + [ + 0.01912596923111941, + 0.9994552135467529, + -0.026897181951082965, + -0.030650954693555832 + ], + [ + -0.20376617777384592, + 0.03023400530219078, + 0.9785526124023217, + 0.004958012606948614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9785823703971382, + -0.013185326009988785, + 0.2054329160168201, + -0.005850368645042181 + ], + [ + 0.019104499875985583, + 0.9994567036628723, + -0.02685627843090437, + -0.030611570924520493 + ], + [ + -0.20496720133331187, + 0.030205773189663887, + 0.9783026325720936, + 0.00499227037653327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9783305143695779, + -0.01313562411814928, + 0.2066320976246325, + -0.0057252198457717896 + ], + [ + 0.019082960930502175, + 0.9994582533836365, + -0.026815462504983918, + -0.030572207644581795 + ], + [ + -0.20616792226445696, + 0.030177537351846695, + 0.9780511955924367, + 0.005026441533118486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9780772043790185, + -0.013085926882922653, + 0.20783097859243765, + -0.0056000808253884315 + ], + [ + 0.019061353604932035, + 0.9994597434997561, + -0.026774730245549536, + -0.0305328331887722 + ], + [ + -0.2073683280654252, + 0.030149294063448913, + 0.9777982431691103, + 0.005060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9778224417639486, + -0.013036231510341167, + 0.20902955262190595, + -0.0054749250411987305 + ], + [ + 0.019039676120611547, + 0.9994612336158752, + -0.02673408598838684, + -0.03049347549676895 + ], + [ + -0.20856842396670558, + 0.03012104332447052, + 0.9775438351366953, + 0.005094779655337334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9775661689046288, + -0.012986541725695137, + 0.21022780413284672, + -0.0053497604094445705 + ], + [ + 0.019017932293476137, + 0.9994627237319949, + -0.026693529048814488, + -0.030454125255346298 + ], + [ + -0.20976820753800787, + 0.030092788860201843, + 0.9772879720228257, + 0.005128896329551935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9773084434921228, + -0.012936853803694248, + 0.21142574827511643, + -0.005224600899964571 + ], + [ + 0.018996115642411087, + 0.999464213848114, + -0.026653055261746068, + -0.030414769425988197 + ], + [ + -0.2109676690458311, + 0.030064525082707405, + 0.9770305949414761, + 0.00516302976757288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9770492666903949, + -0.012887169606983662, + 0.21262337966544345, + -0.005099425092339516 + ], + [ + 0.01897423298677253, + 0.9994657039642334, + -0.02661266900006408, + -0.030375419184565544 + ], + [ + -0.2121668152826704, + 0.030036253854632378, + 0.9767717634142961, + 0.005197128746658564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.976788579876026, + -0.012837491929531097, + 0.21382068730858217, + -0.004974259529262781 + ], + [ + 0.018952283591284605, + 0.9994671940803528, + -0.026572370561371014, + -0.03033607266843319 + ], + [ + -0.21336564768460878, + 0.03000797890126705, + 0.9765114771216279, + 0.005231242161244154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9765264420933394, + -0.01278781145811081, + 0.21501768017744888, + -0.0048490785993635654 + ], + [ + 0.01893026177156719, + 0.9994686841964722, + -0.026532159440868296, + -0.030296729877591133 + ], + [ + -0.21456415041313753, + 0.02997969463467598, + 0.9762496785133997, + 0.005265321582555771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9762627959588678, + -0.01273814029991627, + 0.21621434169429363, + -0.004723886493593454 + ], + [ + 0.01890817628694758, + 0.9994701743125918, + -0.02649203574349374, + -0.030257396399974823 + ], + [ + -0.2157623322756538, + 0.029951410368084914, + 0.9759864266892538, + 0.00529936607927084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9759977577420489, + -0.012688469141721725, + 0.2174106981344372, + -0.004598680417984724 + ], + [ + 0.01888601922399808, + 0.9994716644287109, + -0.02645199755931464, + -0.030218077823519707 + ], + [ + -0.21696019311743953, + 0.02992311120033264, + 0.9757217216839698, + 0.0053333742544054985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9757312103237019, + -0.012638804502785206, + 0.21860672688047408, + -0.004473483189940453 + ], + [ + 0.018863797929678894, + 0.9994731545448303, + -0.026412047199819683, + -0.030178751796483994 + ], + [ + -0.21815773732464502, + 0.029894812032580376, + 0.9754555625004835, + 0.005367399659007788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9754631565359666, + -0.01258914452046156, + 0.21980241532527778, + -0.0043482729233801365 + ], + [ + 0.018841509523368605, + 0.9994746446609497, + -0.026372179720572347, + -0.030139435082674026 + ], + [ + -0.2193549388139212, + 0.029866499826312065, + 0.9751878939156247, + 0.005401390139013529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9751937114844651, + -0.012539485469460487, + 0.22099779489547247, + -0.004223067779093981 + ], + [ + 0.018819152604723294, + 0.9994760751724243, + -0.02633240513204814, + -0.030100110918283463 + ], + [ + -0.22055181550839198, + 0.029838187620043755, + 0.9749187729874512, + 0.005435396451503038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9749227599965902, + -0.012489832006394863, + 0.222192834418607, + -0.004097846336662769 + ], + [ + 0.01879673023561916, + 0.9994775652885437, + -0.026292715237078764, + -0.030060801655054092 + ], + [ + -0.22174834983059957, + 0.02980986423790455, + 0.9746481425859668, + 0.005469367373734713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9746503021424915, + -0.012440181337296966, + 0.22338753355324195, + -0.003972618840634823 + ], + [ + 0.01877423804181955, + 0.9994789958000185, + -0.026253111179175493, + -0.03002149611711502 + ], + [ + -0.22294456778042882, + 0.029781533405184753, + 0.974376119052103, + 0.005503304302692413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9743764541425994, + -0.012390530668199066, + 0.22458191877000014, + -0.00384739157743752 + ], + [ + 0.018751677518067875, + 0.9994804859161379, + -0.02621359467379417, + -0.0299821924418211 + ], + [ + -0.22414044280690942, + 0.029753196984529502, + 0.9741025861656405, + 0.005537256132811308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9741011002672157, + -0.012340889312326908, + 0.22577596135262418, + -0.0037221559323370457 + ], + [ + 0.0187290555468407, + 0.9994819164276123, + -0.026174170001604578, + -0.029942896217107773 + ], + [ + -0.22533597263487756, + 0.029724856838583946, + 0.973827544445113, + 0.005571173503994942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9738242412422357, + -0.012291247956454757, + 0.2269696581240693, + -0.0035969058517366648 + ], + [ + 0.018706365174651098, + 0.9994834065437319, + -0.026134831266723363, + -0.029903607442975044 + ], + [ + -0.22653118126415547, + 0.029696509242057807, + 0.9735511106945776, + 0.005605055019259453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9735459948808979, + -0.012241614051163197, + 0.2281630287976446, + -0.0034716438967734575 + ], + [ + 0.018683611047631547, + 0.9994848370552063, + -0.026095581349505185, + -0.029864327982068062 + ], + [ + -0.22772603394284097, + 0.029668157920241356, + 0.97327317062138, + 0.0056389025412499905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732662434155359, + -0.01219198014587164, + 0.22935605340239762, + -0.003346386831253767 + ], + [ + 0.01866078661761549, + 0.9994862675666809, + -0.02605641619053719, + -0.029825039207935333 + ], + [ + -0.2289205519772523, + 0.029639793559908867, + 0.9729937804505878, + 0.005672766361385584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9729850456870431, + -0.012142352759838104, + 0.23054874203360984, + -0.003221118589863181 + ], + [ + 0.018637900112136795, + 0.9994877576828003, + -0.026017341645539437, + -0.029785774648189545 + ], + [ + -0.2301147178038145, + 0.02961142733693123, + 0.9727128830740267, + 0.00570659339427948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9727023450237259, + -0.012092728167772293, + 0.23174107531566393, + -0.0030958554707467556 + ], + [ + 0.018614946791173082, + 0.9994891881942749, + -0.02597835323224009, + -0.029746495187282562 + ], + [ + -0.23130853948495522, + 0.029583053663372993, + 0.9724305378366762, + 0.005740438122302294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.972418199325834, + -0.012043104507029057, + 0.23293306738264635, + -0.002970578381791711 + ], + [ + 0.01859192457528914, + 0.9994906187057495, + -0.025939449677469813, + -0.029707223176956177 + ], + [ + -0.23250201748992141, + 0.029554666951298714, + 0.9721467446295021, + 0.005774248391389847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9721326094639567, + -0.011993487365543846, + 0.23412471457514136, + -0.0028452908154577017 + ], + [ + 0.018568840740926896, + 0.9994920492172243, + -0.025900644704557416, + -0.029667962342500687 + ], + [ + -0.23369514815537204, + 0.02952628582715989, + 0.9718615043318897, + 0.00580802233889699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9718455171226899, + -0.011943873949348927, + 0.23531600443404316, + -0.0027200093027204275 + ], + [ + 0.018545692452810736, + 0.9994934797286987, + -0.0258619218886506, + -0.029628703370690346 + ], + [ + -0.23488791910315185, + 0.029497889801859856, + 0.9715747586166747, + 0.005841811653226614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9715569810464215, + -0.01189426239579916, + 0.23650694757656307, + -0.0025947140529751778 + ], + [ + 0.018522476684736933, + 0.9994949102401733, + -0.025823284017250744, + -0.029589446261525154 + ], + [ + -0.23608034080512844, + 0.029469488188624382, + 0.9712865662711909, + 0.005875567905604839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.971267001213167, + -0.011844655498862267, + 0.23769754404987892, + -0.0024694062303751707 + ], + [ + 0.018499196715938544, + 0.999496340751648, + -0.025784740022370804, + -0.029550202190876007 + ], + [ + -0.23727241344600997, + 0.02944107912480831, + 0.9709969272478723, + 0.005909287370741367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9709755210952058, + -0.011795052327215675, + 0.23888777405013328, + -0.0023441051598638296 + ], + [ + 0.018475851863599888, + 0.9994977712631228, + -0.025746282542705643, + -0.029510950669646263 + ], + [ + -0.23846411711203802, + 0.02941266633570195, + 0.9707057850535797, + 0.005943024531006813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9706825989050043, + -0.01174545381218195, + 0.24007765045322485, + -0.0022187898866832256 + ], + [ + 0.0184524445380219, + 0.9994992017745972, + -0.02570791687880112, + -0.029471710324287415 + ], + [ + -0.23965546462585388, + 0.029384247958660126, + 0.9704131979218754, + 0.005976726301014423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9703882342688398, + -0.011695857159793377, + 0.24126717474830375, + -0.00209346623159945 + ], + [ + 0.018428970865734164, + 0.999500572681427, + -0.02566963837104684, + -0.029432479292154312 + ], + [ + -0.24084645767765156, + 0.029355822131037712, + 0.9701191654372822, + 0.006010391749441624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9700924279975374, + -0.011646265164017677, + 0.24245634362074717, + -0.001968147000297904 + ], + [ + 0.018405434176564574, + 0.9995020031929016, + -0.025631448255267, + -0.02939324453473091 + ], + [ + -0.2420370927300514, + 0.029327386990189552, + 0.9698236884735598, + 0.006044073961675167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.969795122815839, + -0.011596676893532276, + 0.24364514038041324, + -0.0018428117036819458 + ], + [ + 0.018381833286811464, + 0.9995034337043762, + -0.025593345044374834, + -0.029354017227888107 + ], + [ + -0.24322735330095266, + 0.029298944398760796, + 0.9695267097115344, + 0.006077722180634737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9694963768320355, + -0.011547092348337173, + 0.24483357832631192, + -0.0017174679087474942 + ], + [ + 0.018358169726925173, + 0.999504804611206, + -0.02555533425516238, + -0.029314806684851646 + ], + [ + -0.24441725250205296, + 0.02927049994468689, + 0.9692282873140666, + 0.00611133361235261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9691961323581765, + -0.011497509665787222, + 0.2460216424204674, + -0.0015921269077807665 + ], + [ + 0.01833443870100125, + 0.9995062351226809, + -0.025517411475850415, + -0.02927558310329914 + ], + [ + -0.24560677531990954, + 0.029242044314742095, + 0.9689283635950963, + 0.006144962273538113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9688944484987241, + -0.011447933502495289, + 0.24720934202558487, + -0.0014667791547253728 + ], + [ + 0.01831065033715014, + 0.9995076060295105, + -0.025479581974114242, + -0.02923637442290783 + ], + [ + -0.24679594586688244, + 0.029213588684797287, + 0.9686270554179996, + 0.006178554613143206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9685913257212472, + -0.011398359201848507, + 0.2483966753011527, + -0.0013414137065410614 + ], + [ + 0.018286793018034455, + 0.9995090365409851, + -0.02544183345882219, + -0.029197171330451965 + ], + [ + -0.24798473291176146, + 0.029185118153691292, + 0.96832424772874, + 0.0062121134251356125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9682867630799148, + -0.011348787695169449, + 0.2495836459331311, + -0.0012160565238445997 + ], + [ + 0.018262875100321818, + 0.9995104074478149, + -0.025404179323421032, + -0.029157966375350952 + ], + [ + -0.2491731402853772, + 0.029156643897294998, + 0.9680199395521375, + 0.006245688069611788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9679807046412322, + -0.01129922177642584, + 0.25077023203312077, + -0.0010906794341281056 + ], + [ + 0.018238894479890196, + 0.9995118379592898, + -0.025366614475849775, + -0.029118770733475685 + ], + [ + -0.25036118980473615, + 0.029128164052963264, + 0.9677142483543248, + 0.006279227323830128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9676732086057431, + -0.011249659582972527, + 0.251956446607018, + -0.0009653015877120197 + ], + [ + 0.018214851796926886, + 0.9995132088661194, + -0.025329140813975068, + -0.029079582542181015 + ], + [ + -0.2515488507065958, + 0.029099680483341217, + 0.9674070589681283, + 0.006312731187790632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9673642168231323, + -0.011200102046132088, + 0.2531422764373209, + -0.0008399263024330139 + ], + [ + 0.018190748132785966, + 0.9995145797729492, + -0.025291758196374838, + -0.029040392488241196 + ], + [ + -0.252736124339543, + 0.02907118946313858, + 0.9670983710490789, + 0.006346250884234905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9670537878952341, + -0.01115054450929165, + 0.2543277329648906, + -0.0007145312847569585 + ], + [ + 0.01816657822049845, + 0.9995159506797793, + -0.025254464283528635, + -0.029001209884881973 + ], + [ + -0.25392303718893744, + 0.029042690992355354, + 0.9667883008816873, + 0.006379737984389067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9667419219430262, + -0.011100993491709232, + 0.25551281570246215, + -0.0005891278269700706 + ], + [ + 0.018142348537785628, + 0.9995173811912537, + -0.025217257529712035, + -0.028962036594748497 + ], + [ + -0.2551095588435364, + 0.029014181345701218, + 0.9664767332021414, + 0.0064131878316402435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9664286195286798, + -0.011051444336771965, + 0.25669752247317956, + -0.00046373638906516135 + ], + [ + 0.018118053420569925, + 0.9995187520980835, + -0.025180141481970845, + -0.02892286144196987 + ], + [ + -0.25629570177000105, + 0.02898566983640194, + 0.9661637263602871, + 0.006446653511375189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9661138248443014, + -0.01100190170109272, + 0.2578818311367177, + -0.0003383270523045212 + ], + [ + 0.018093702578427562, + 0.9995201230049133, + -0.025143119504743152, + -0.028883695602416992 + ], + [ + -0.25748145962493835, + 0.028957150876522064, + 0.9658492820330918, + 0.006480084266513586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9657975942803443, + -0.010952360928058624, + 0.2590657616096257, + -0.0002129242493538186 + ], + [ + 0.01806928570812967, + 0.9995214939117432, + -0.02510618482188151, + -0.028844516724348068 + ], + [ + -0.25866682112152795, + 0.02892862632870674, + 0.9655333415631393, + 0.006513532716780901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9654798713534795, + -0.010902822948992254, + 0.26024929432788824, + -8.749047265155241e-05 + ], + [ + 0.018044807115710004, + 0.9995228648185732, + -0.025069342219843305, + -0.02880537137389183 + ], + [ + -0.25985179813065273, + 0.02890009433031083, + 0.9652159634686395, + 0.006546891760081053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9651607369482599, + -0.010853239335119724, + 0.2614325879985745, + 3.805300366366282e-05 + ], + [ + 0.018020217406259184, + 0.9995242357254028, + -0.025032572294287483, + -0.028766168281435966 + ], + [ + -0.26103650461366856, + 0.028871526941657066, + 0.964897055508397, + 0.006580328103154898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/pull_out/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..77369e0f3658d0da698240a312df669edebb43a8 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/pull_out/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.0032555165234953165, + -0.005529353395104408, + -0.005577330811486958 + ], + [ + 0.0032319806050509214, + 0.9999856948852539, + -0.004260140471160412, + -0.004674969772539378 + ], + [ + 0.00554314348846674, + 0.0042421817779541016, + 0.9999756217002869, + -0.001160085756988284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005377934314310551, + -0.011360308155417442, + -0.011173924838025201 + ], + [ + 0.00532000046223402, + 0.9999727010726929, + -0.005123721901327372, + -0.0060180217853774585 + ], + [ + 0.011387553066015244, + 0.005062880460172892, + 0.9999223351478577, + -0.0031503717777432256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998708367347717, + -0.010394159704446793, + -0.012257437221705914, + -0.013030471756010001 + ], + [ + 0.010184912011027336, + 0.9998034238815308, + -0.01701173558831215, + -0.017916371766867497 + ], + [ + 0.012431849725544453, + 0.0168846994638443, + 0.9997801780700684, + -0.001487616476408989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014360994100570679, + -0.017254116013646126, + -0.018243323417699985 + ], + [ + 0.013956792652606964, + 0.9996305704116821, + -0.023322783410549164, + -0.024580344202378805 + ], + [ + 0.01758267916738987, + 0.023076094686985016, + 0.9995790719985962, + -0.0022918201416972477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002441, + -0.01868932694196701, + -0.02287096530199051, + -0.024070289406816332 + ], + [ + 0.017997808754444122, + 0.9993855357170105, + -0.030076881870627403, + -0.03171428446131895 + ], + [ + 0.023419030010700226, + 0.029652131721377373, + 0.999285876750946, + -0.003258052195332726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999367356300354, + -0.022492164745926857, + -0.02754915878176689, + -0.028944761369954095 + ], + [ + 0.021495414897799492, + 0.9991220831871033, + -0.03595762699842453, + -0.03792525559476729 + ], + [ + 0.028333738446235657, + 0.03534270077943802, + 0.998973548412323, + -0.004181656898311086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.02244180254638195, + -0.027419451624155045, + -0.0288096889136476 + ], + [ + 0.02145053632557392, + 0.9991242289543152, + -0.035926420241594315, + -0.0378700725531603 + ], + [ + 0.028201691806316376, + 0.03531569615006447, + 0.9989781975746155, + -0.004562198058370827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.022391442209482193, + -0.0272897407412529, + -0.028674728736655483 + ], + [ + 0.021405648440122604, + 0.9991262555122375, + -0.0358952134847641, + -0.03781491562599418 + ], + [ + 0.028069641441106796, + 0.03528868407011032, + 0.9989829063415527, + -0.004942726661065383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.022341091185808182, + -0.027160027995705605, + -0.028539862210188203 + ], + [ + 0.021360762417316437, + 0.9991283416748047, + -0.03586401417851448, + -0.03775978851050263 + ], + [ + 0.027937596663832664, + 0.035261671990156174, + 0.9989875555038452, + -0.005323294253540556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.022290736436843872, + -0.02703031711280346, + -0.02840509490893226 + ], + [ + 0.021315868943929672, + 0.9991304278373718, + -0.03583282232284546, + -0.03770469864791407 + ], + [ + 0.027805553749203682, + 0.03523464500904083, + 0.9989922046661377, + -0.005703900661124656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.02224038913846016, + -0.026900604367256165, + -0.02827042125975986 + ], + [ + 0.02127097174525261, + 0.999132513999939, + -0.03580164536833763, + -0.037649638544004334 + ], + [ + 0.02767351269721985, + 0.03520762547850609, + 0.9989967942237854, + -0.006084545958732647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.022190045565366745, + -0.02677088789641857, + -0.02813586176345787 + ], + [ + 0.021226070821285248, + 0.9991346001625061, + -0.03577045723795891, + -0.03759460831099973 + ], + [ + 0.027541467919945717, + 0.03518058732151985, + 0.9990013837814331, + -0.006465178333168312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.02213970199227333, + -0.02664116583764553, + -0.0280013996710276 + ], + [ + 0.02118116244673729, + 0.9991366863250732, + -0.03573928028345108, + -0.03753960411605975 + ], + [ + 0.027409421280026436, + 0.03515353798866272, + 0.9990059733390808, + -0.0068458493564192155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.022089364007115364, + -0.02651144377887249, + -0.027867049857911705 + ], + [ + 0.021136252209544182, + 0.9991387128829956, + -0.03570811077952385, + -0.03748463341755847 + ], + [ + 0.027277378365397453, + 0.03512648865580559, + 0.9990105628967285, + -0.007226508154989722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424072, + -0.022039031609892845, + -0.02638172172009945, + -0.027732793697658693 + ], + [ + 0.021091340109705925, + 0.9991407990455627, + -0.03567694500088692, + -0.0374296887789436 + ], + [ + 0.02714533917605877, + 0.03509943559765816, + 0.9990150928497314, + -0.00760720511187242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954102, + -0.021988702937960625, + -0.02625199593603611, + -0.027598634940498044 + ], + [ + 0.02104642428457737, + 0.9991428256034851, + -0.03564579039812088, + -0.03737478132153156 + ], + [ + 0.027013299986720085, + 0.03507237136363983, + 0.9990196228027344, + -0.007987941133353282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.021938370540738106, + -0.02612226828932762, + -0.02746459220430841 + ], + [ + 0.02100149728357792, + 0.9991449117660522, + -0.035614632070064545, + -0.037319899961414695 + ], + [ + 0.026881258934736252, + 0.03504529595375061, + 0.9990241527557373, + -0.00836866418178345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967712, + -0.021888047456741333, + -0.025992536917328835, + -0.027330622664617693 + ], + [ + 0.020956572145223618, + 0.9991469383239746, + -0.0355834886431694, + -0.037265063189437696 + ], + [ + 0.02674921788275242, + 0.03501822054386139, + 0.9990286231040955, + -0.008749477068648115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451294, + -0.02183772623538971, + -0.025862807407975197, + -0.027196787748969 + ], + [ + 0.02091164141893387, + 0.9991490244865417, + -0.03555235639214516, + -0.03721023748889877 + ], + [ + 0.026617182418704033, + 0.034991148859262466, + 0.9990330934524536, + -0.00913022640833405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.021787410601973534, + -0.02573307417333126, + -0.02706302789714047 + ], + [ + 0.02086670882999897, + 0.9991510510444641, + -0.03552122041583061, + -0.03715545649807822 + ], + [ + 0.02648514322936535, + 0.03496405854821205, + 0.9990375638008118, + -0.009511065636235425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.021737094968557358, + -0.025603339076042175, + -0.026929384075635148 + ], + [ + 0.020821768790483475, + 0.9991530776023865, + -0.035490091890096664, + -0.03710069777171233 + ], + [ + 0.026353105902671814, + 0.03493696078658104, + 0.9990419745445251, + -0.009891891666730887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.02168678492307663, + -0.02547360025346279, + -0.02679585444129162 + ], + [ + 0.02077682688832283, + 0.9991551637649536, + -0.03545896336436272, + -0.03704596136903164 + ], + [ + 0.02622106857597828, + 0.03490985557436943, + 0.9990464448928833, + -0.010272705056665611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.02163648046553135, + -0.025343861430883408, + -0.026662401710032917 + ], + [ + 0.020731879398226738, + 0.999157190322876, + -0.035427846014499664, + -0.03699127325951804 + ], + [ + 0.026089034974575043, + 0.03488274663686752, + 0.9990508556365967, + -0.010653608692537167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636963, + -0.02158617600798607, + -0.025214120745658875, + -0.02652906315346642 + ], + [ + 0.020686928182840347, + 0.9991592168807983, + -0.03539673238992691, + -0.036936611152218975 + ], + [ + 0.025956999510526657, + 0.03485562652349472, + 0.9990552067756653, + -0.011034498773476257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.021535879001021385, + -0.025084376335144043, + -0.026395820166962417 + ], + [ + 0.020641973242163658, + 0.9991612434387207, + -0.03536563366651535, + -0.03688197492555594 + ], + [ + 0.02582496777176857, + 0.03482850641012192, + 0.9990595579147339, + -0.011415427303717132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.021485578268766403, + -0.024954630061984062, + -0.02626269136138541 + ], + [ + 0.020597010850906372, + 0.9991632699966431, + -0.03533452749252319, + -0.03682737225456218 + ], + [ + 0.025692934170365334, + 0.03480137139558792, + 0.9990639090538025, + -0.011796343235141173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.021435288712382317, + -0.02482488378882408, + -0.02612965995422467 + ], + [ + 0.020552048459649086, + 0.9991652965545654, + -0.03530343621969223, + -0.03677279172020976 + ], + [ + 0.025560900568962097, + 0.03477424383163452, + 0.9990682601928711, + -0.012177297848697642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106812, + -0.02138499729335308, + -0.024695131927728653, + -0.025996720423010104 + ], + [ + 0.020507080480456352, + 0.9991673231124878, + -0.035272352397441864, + -0.03671825946811353 + ], + [ + 0.02542886883020401, + 0.03474710136651993, + 0.9990725517272949, + -0.01255829067892009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.021334711462259293, + -0.024565381929278374, + -0.02586389689873826 + ], + [ + 0.02046210691332817, + 0.9991693496704102, + -0.0352412685751915, + -0.03666374205171314 + ], + [ + 0.025296838954091072, + 0.03471995145082474, + 0.9990768432617188, + -0.012939270336578391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.021284429356455803, + -0.024435628205537796, + -0.0257311689601159 + ], + [ + 0.02041713334619999, + 0.9991713762283325, + -0.03521019220352173, + -0.03660925427864785 + ], + [ + 0.025164809077978134, + 0.03469279408454895, + 0.9990811347961426, + -0.013320288451867777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.02123415283858776, + -0.02430587448179722, + -0.025598534700854304 + ], + [ + 0.02037215419113636, + 0.9991733431816101, + -0.035179123282432556, + -0.03655481476601696 + ], + [ + 0.025032782927155495, + 0.03466563671827316, + 0.9990854263305664, + -0.013701345723280174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297974, + -0.02118387445807457, + -0.024176113307476044, + -0.02546601657245199 + ], + [ + 0.020327165722846985, + 0.9991753697395325, + -0.035148054361343384, + -0.03650038262603173 + ], + [ + 0.02490074932575226, + 0.034638457000255585, + 0.9990896582603455, + -0.01408238867482864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595764, + -0.021133603528141975, + -0.024046355858445168, + -0.025333592078208175 + ], + [ + 0.02028217725455761, + 0.9991773962974548, + -0.03511699289083481, + -0.03644599873401131 + ], + [ + 0.02476872317492962, + 0.03461127728223801, + 0.9990938901901245, + -0.014463470907244739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847107, + -0.02108333446085453, + -0.023916592821478844, + -0.025201265071226463 + ], + [ + 0.020237186923623085, + 0.9991793632507324, + -0.03508593887090683, + -0.03639163700357142 + ], + [ + 0.02463669516146183, + 0.03458409756422043, + 0.9990980625152588, + -0.014844590175612418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.021033067256212234, + -0.02378683164715767, + -0.02506905221321842 + ], + [ + 0.020192187279462814, + 0.9991813898086548, + -0.03505489602684975, + -0.036337304821385995 + ], + [ + 0.02450467273592949, + 0.03455691412091255, + 0.9991022944450378, + -0.015225697917645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303345, + -0.020982807502150536, + -0.023657064884901047, + -0.02493693685026598 + ], + [ + 0.020147187635302544, + 0.9991833567619324, + -0.035023849457502365, + -0.036283009848459995 + ], + [ + 0.0243726447224617, + 0.03452971205115318, + 0.9991064667701721, + -0.015606843111413105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999504029750824, + -0.020932547748088837, + -0.023527298122644424, + -0.02480491145229489 + ], + [ + 0.020102180540561676, + 0.9991853833198547, + -0.03499281778931618, + -0.03622874435052961 + ], + [ + 0.02424062043428421, + 0.034502509981393814, + 0.9991105794906616, + -0.01598802603134363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713135, + -0.020882295444607735, + -0.023397531360387802, + -0.024673003958982403 + ], + [ + 0.02005717344582081, + 0.9991873502731323, + -0.03496179357171059, + -0.03617450097677099 + ], + [ + 0.02410859987139702, + 0.034475307911634445, + 0.9991147518157959, + -0.01636919695511363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.020832043141126633, + -0.023267757147550583, + -0.024541192140165233 + ], + [ + 0.020012158900499344, + 0.9991893768310547, + -0.0349307619035244, + -0.03612029486215015 + ], + [ + 0.023976575583219528, + 0.034448083490133286, + 0.9991188645362854, + -0.016750405118610732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030029, + -0.02078179642558098, + -0.023137984797358513, + -0.02440949447577718 + ], + [ + 0.01996713876724243, + 0.9991913437843323, + -0.034899741411209106, + -0.03606611080311831 + ], + [ + 0.023844553157687187, + 0.034420862793922424, + 0.9991229176521301, + -0.017131599398898776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188477, + -0.020731551572680473, + -0.023008208721876144, + -0.02427787380643719 + ], + [ + 0.01992211677134037, + 0.9991933107376099, + -0.03486872836947441, + -0.03601197120129564 + ], + [ + 0.023712530732154846, + 0.03439362719655037, + 0.9991270303726196, + -0.01751288450269465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.020681310445070267, + -0.022878430783748627, + -0.024146365494346518 + ], + [ + 0.01987709105014801, + 0.9991952776908875, + -0.03483772277832031, + -0.03595785742087843 + ], + [ + 0.023580510169267654, + 0.034366391599178314, + 0.9991310834884644, + -0.017894155586091604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412476, + -0.02063107118010521, + -0.02274865098297596, + -0.024014975129778664 + ], + [ + 0.019832059741020203, + 0.999197244644165, + -0.034806717187166214, + -0.035903765861272315 + ], + [ + 0.023448491469025612, + 0.03433914855122566, + 0.9991351366043091, + -0.01827541379217608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524475, + -0.02058083936572075, + -0.022618873044848442, + -0.023883678432101985 + ], + [ + 0.019787024706602097, + 0.9991992115974426, + -0.03477573022246361, + -0.035849707355434426 + ], + [ + 0.02331647463142872, + 0.03431190177798271, + 0.999139130115509, + -0.018656709566507796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636475, + -0.020530609413981438, + -0.022489085793495178, + -0.023752475609402777 + ], + [ + 0.01974198780953884, + 0.999201238155365, + -0.034744735807180405, + -0.03579568237097443 + ], + [ + 0.023184452205896378, + 0.034284647554159164, + 0.9991431832313538, + -0.01903804430754409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.020480381324887276, + -0.022359302267432213, + -0.023621370147711065 + ], + [ + 0.01969694159924984, + 0.9992032051086426, + -0.0347137525677681, + -0.03574169055874377 + ], + [ + 0.023052437230944633, + 0.03425738215446472, + 0.9991471171379089, + -0.01941941569623329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.02043016068637371, + -0.022229516878724098, + -0.023490378916045364 + ], + [ + 0.019651899114251137, + 0.9992051124572754, + -0.034682776778936386, + -0.035687728252682724 + ], + [ + 0.02292042039334774, + 0.03423011675477028, + 0.9991511106491089, + -0.019800775032612267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786682, + -0.020379941910505295, + -0.022099725902080536, + -0.023359483365109776 + ], + [ + 0.019606847316026688, + 0.999207079410553, + -0.034651800990104675, + -0.035633795593074176 + ], + [ + 0.022788405418395996, + 0.03420283645391464, + 0.9991550445556641, + -0.020182171183698916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805786, + -0.02032972313463688, + -0.021969936788082123, + -0.0232287001129723 + ], + [ + 0.01956179179251194, + 0.9992090463638306, + -0.03462084010243416, + -0.03557988109854225 + ], + [ + 0.0226563923060894, + 0.034175556153059006, + 0.9991589784622192, + -0.020563554554167213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999555766582489, + -0.02027951367199421, + -0.021840142086148262, + -0.02309799578555209 + ], + [ + 0.019516734406352043, + 0.9992110133171082, + -0.03458987548947334, + -0.035526018667669974 + ], + [ + 0.022524377331137657, + 0.034148264676332474, + 0.9991629123687744, + -0.020945027418515356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.02022930048406124, + -0.0217103473842144, + -0.0229674261499773 + ], + [ + 0.01947166956961155, + 0.9992129802703857, + -0.03455892205238342, + -0.035472167008965584 + ], + [ + 0.022392362356185913, + 0.03412096947431564, + 0.9991668462753296, + -0.0213264361226157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.02017909660935402, + -0.02158055081963539, + -0.02283693350477448 + ], + [ + 0.019426602870225906, + 0.9992148876190186, + -0.0345279723405838, + -0.03541835979811816 + ], + [ + 0.022260352969169617, + 0.03409366309642792, + 0.99917072057724, + -0.021707932991926117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.020128892734646797, + -0.02145075425505638, + -0.022706553201233992 + ], + [ + 0.019381528720259666, + 0.9992168545722961, + -0.03449702635407448, + -0.035364570953419515 + ], + [ + 0.02212834358215332, + 0.03406635299324989, + 0.9991745948791504, + -0.022089416728332825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.020078696310520172, + -0.021320953965187073, + -0.02257626297178378 + ], + [ + 0.019336454570293427, + 0.999218761920929, + -0.03446609526872635, + -0.035310826294716435 + ], + [ + 0.021996330469846725, + 0.03403903543949127, + 0.999178409576416, + -0.022470937601218065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.020028501749038696, + -0.021191153675317764, + -0.022446075773887554 + ], + [ + 0.01929137483239174, + 0.9992207288742065, + -0.03443516790866852, + -0.035257111159328634 + ], + [ + 0.021864324808120728, + 0.03401172161102295, + 0.9991822242736816, + -0.02285249680191791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567932, + -0.01997831091284752, + -0.021061349660158157, + -0.02231600100805819 + ], + [ + 0.019246291369199753, + 0.9992226362228394, + -0.034404244273900986, + -0.035203418091999436 + ], + [ + 0.02173231542110443, + 0.033984389156103134, + 0.9991860389709473, + -0.023234042561993927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.01992812380194664, + -0.020931540057063103, + -0.022186046173975307 + ], + [ + 0.019201204180717468, + 0.9992246031761169, + -0.03437332063913345, + -0.035149747176898574 + ], + [ + 0.021600304171442986, + 0.03395704925060272, + 0.9991898536682129, + -0.023615574925101877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.01987793669104576, + -0.020801736041903496, + -0.022056158853375262 + ], + [ + 0.019156109541654587, + 0.9992265105247498, + -0.034342408180236816, + -0.03509612421984453 + ], + [ + 0.021468302235007286, + 0.03392971307039261, + 0.9991936087608337, + -0.023997196141717112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.01982775516808033, + -0.020671922713518143, + -0.021926389698515875 + ], + [ + 0.019111013039946556, + 0.9992284178733826, + -0.03431149944663048, + -0.0350425195884131 + ], + [ + 0.02133629471063614, + 0.033902358263731, + 0.9991973638534546, + -0.02437880346037654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.019777577370405197, + -0.02054211124777794, + -0.02179671795142495 + ], + [ + 0.019065912812948227, + 0.9992303848266602, + -0.03428059071302414, + -0.03498894827261131 + ], + [ + 0.02120428904891014, + 0.0338749960064888, + 0.9992011189460754, + -0.02476044867134645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.019727405160665512, + -0.020412297919392586, + -0.02166716233129656 + ], + [ + 0.01902081072330475, + 0.999232292175293, + -0.03424970060586929, + -0.0349354060717457 + ], + [ + 0.021072285249829292, + 0.033847637474536896, + 0.9992048144340515, + -0.025142079816398575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.019677232950925827, + -0.020282482728362083, + -0.021537696763436663 + ], + [ + 0.018975701183080673, + 0.9992341995239258, + -0.03421881049871445, + -0.034881893445632445 + ], + [ + 0.020940283313393593, + 0.033820271492004395, + 0.9992085099220276, + -0.025523748978505796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.01962706632912159, + -0.020152663812041283, + -0.021408328749862926 + ], + [ + 0.01893058605492115, + 0.9992361068725586, + -0.0341879241168499, + -0.034828417746654114 + ], + [ + 0.020808277651667595, + 0.033792894333601, + 0.9992122054100037, + -0.02590545618677196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.0195769015699625, + -0.020022844895720482, + -0.02127905447020441 + ], + [ + 0.018885469064116478, + 0.9992380142211914, + -0.03415704891085625, + -0.034774978770621155 + ], + [ + 0.020676275715231895, + 0.0337655134499073, + 0.9992159008979797, + -0.026287201703131532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.019526740536093712, + -0.019893022254109383, + -0.021149898240163487 + ], + [ + 0.018840348348021507, + 0.9992399215698242, + -0.034126173704862595, + -0.03472156563158065 + ], + [ + 0.020544273778796196, + 0.033738117665052414, + 0.999219536781311, + -0.026668932014407988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.01947658509016037, + -0.019763201475143433, + -0.021020837558363273 + ], + [ + 0.01879522204399109, + 0.999241828918457, + -0.03409530594944954, + -0.03466817067320377 + ], + [ + 0.020412277430295944, + 0.033710721880197525, + 0.9992231726646423, + -0.02705070072941864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.019426429644227028, + -0.019633373245596886, + -0.020891889447354123 + ], + [ + 0.018750092014670372, + 0.9992437362670898, + -0.034064438194036484, + -0.03461480899616515 + ], + [ + 0.020280277356505394, + 0.03368331864476204, + 0.9992267489433289, + -0.027432453586616664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428345, + -0.01937628537416458, + -0.019503546878695488, + -0.020763038750348232 + ], + [ + 0.018704961985349655, + 0.9992456436157227, + -0.03403358906507492, + -0.034561480070507175 + ], + [ + 0.020148279145359993, + 0.033655911684036255, + 0.9992303848266602, + -0.027814247162922995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.019326139241456985, + -0.019373716786503792, + -0.02063428376368773 + ], + [ + 0.01865982636809349, + 0.9992475509643555, + -0.03400273993611336, + -0.03450818813589078 + ], + [ + 0.020016280934214592, + 0.033628497272729874, + 0.9992339611053467, + -0.028196076752771877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862732, + -0.01927599310874939, + -0.019243888556957245, + -0.02050564109219168 + ], + [ + 0.01861467957496643, + 0.9992493987083435, + -0.03397189453244209, + -0.034454914456755546 + ], + [ + 0.01988428458571434, + 0.0336010716855526, + 0.9992374777793884, + -0.028577890883981168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556702, + -0.01922585628926754, + -0.01911405473947525, + -0.020377094191050927 + ], + [ + 0.01856953464448452, + 0.9992513060569763, + -0.033941056579351425, + -0.034401677544209246 + ], + [ + 0.019752290099859238, + 0.033573638647794724, + 0.999241054058075, + -0.02895974511895368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.01917572133243084, + -0.018984220921993256, + -0.02024864662423044 + ], + [ + 0.01852438785135746, + 0.9992532134056091, + -0.033910226076841354, + -0.03434847738889969 + ], + [ + 0.019620295614004135, + 0.03354620561003685, + 0.9992445707321167, + -0.029341636290510714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.01912558451294899, + -0.018854383379220963, + -0.02012030968138613 + ], + [ + 0.018479228019714355, + 0.9992550611495972, + -0.03387940302491188, + -0.0342952953550232 + ], + [ + 0.019488301128149033, + 0.03351876512169838, + 0.9992480874061584, + -0.029723513000800613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.019075460731983185, + -0.01872454583644867, + -0.01999207021333433 + ], + [ + 0.0184340737760067, + 0.99925696849823, + -0.033848583698272705, + -0.03424214272444218 + ], + [ + 0.01935631036758423, + 0.03349132090806961, + 0.9992515444755554, + -0.03010542648971065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.01902533881366253, + -0.018594708293676376, + -0.019863928220075044 + ], + [ + 0.018388913944363594, + 0.999258816242218, + -0.03381776437163353, + -0.034189034510544156 + ], + [ + 0.019224319607019424, + 0.03346386179327965, + 0.9992550015449524, + -0.030487377563331697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.018975213170051575, + -0.018464861437678337, + -0.01973589889892225 + ], + [ + 0.018343742936849594, + 0.9992607235908508, + -0.03378695249557495, + -0.0341359443993748 + ], + [ + 0.019092323258519173, + 0.03343639522790909, + 0.9992584586143494, + -0.03086931482429916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.018925096839666367, + -0.018335022032260895, + -0.019607964957670688 + ], + [ + 0.018298573791980743, + 0.9992625713348389, + -0.033756155520677567, + -0.034082890767993784 + ], + [ + 0.018960338085889816, + 0.03340892866253853, + 0.9992619156837463, + -0.03125129083413085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.018874982371926308, + -0.018205175176262856, + -0.01948012687328221 + ], + [ + 0.018253399059176445, + 0.9992644190788269, + -0.03372535482048988, + -0.0340298667550087 + ], + [ + 0.01882834918797016, + 0.03338145092129707, + 0.9992653131484985, + -0.03163330195954841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.018824871629476547, + -0.018075326457619667, + -0.019352403096854688 + ], + [ + 0.018208220601081848, + 0.9992663264274597, + -0.033694565296173096, + -0.033976871872546784 + ], + [ + 0.018696362152695656, + 0.03335396945476532, + 0.9992687106132507, + -0.03201530009554893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.018774762749671936, + -0.01794547773897648, + -0.01922477680457187 + ], + [ + 0.018163036555051804, + 0.9992681741714478, + -0.033663779497146606, + -0.03392390263068128 + ], + [ + 0.01856437511742115, + 0.03332647681236267, + 0.9992721080780029, + -0.03239733576638211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.018724659457802773, + -0.017815623432397842, + -0.019097244460525374 + ], + [ + 0.01811785064637661, + 0.9992700219154358, + -0.033633001148700714, + -0.03387097007435236 + ], + [ + 0.018432386219501495, + 0.03329898416996002, + 0.9992754459381104, + -0.03277940811612741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.018674559891223907, + -0.017685772851109505, + -0.018969824378647564 + ], + [ + 0.018072661012411118, + 0.9992718696594238, + -0.03360222652554512, + -0.03381806314615026 + ], + [ + 0.01830040104687214, + 0.03327148035168648, + 0.9992787837982178, + -0.03316146637883941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.01862446404993534, + -0.01755591668188572, + -0.018842505701821468 + ], + [ + 0.01802746392786503, + 0.9992737174034119, + -0.033571455627679825, + -0.033765193017269775 + ], + [ + 0.018168417736887932, + 0.033243972808122635, + 0.9992821216583252, + -0.033543561660844406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231323, + -0.018574370071291924, + -0.017426056787371635, + -0.018715279058370133 + ], + [ + 0.01798226498067379, + 0.9992755651473999, + -0.033540695905685425, + -0.033712348245302504 + ], + [ + 0.018036430701613426, + 0.0332164540886879, + 0.9992853999137878, + -0.033925694079142234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.018524279817938805, + -0.01729620061814785, + -0.018588168402377783 + ], + [ + 0.017937062308192253, + 0.9992774128913879, + -0.03350994363427162, + -0.03365953639929015 + ], + [ + 0.017904451116919518, + 0.03318893536925316, + 0.9992887377738953, + -0.03430781436394355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.018474197015166283, + -0.017166344448924065, + -0.01846115709941008 + ], + [ + 0.017891855910420418, + 0.999279260635376, + -0.03347919136285782, + -0.03360674656210584 + ], + [ + 0.01777247153222561, + 0.033161409199237823, + 0.9992919564247131, + -0.0346899686590671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.01842411234974861, + -0.017036478966474533, + -0.018334232449967992 + ], + [ + 0.017846643924713135, + 0.999281108379364, + -0.03344844654202461, + -0.03355400081427776 + ], + [ + 0.01764049008488655, + 0.033133868128061295, + 0.9992952346801758, + -0.03507216227626638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.01837403140962124, + -0.016906613484025, + -0.018207427650440686 + ], + [ + 0.017801424488425255, + 0.9992828965187073, + -0.033417705446481705, + -0.03350127320658712 + ], + [ + 0.017508508637547493, + 0.03310632333159447, + 0.9992984533309937, + -0.03545434014398261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.018323954194784164, + -0.01677674800157547, + -0.01808072034908638 + ], + [ + 0.017756205052137375, + 0.9992847442626953, + -0.03338697552680969, + -0.03344858208336092 + ], + [ + 0.017376530915498734, + 0.03307878226041794, + 0.9993016719818115, + -0.03583655632821898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.018273886293172836, + -0.01664688065648079, + -0.017954105028111067 + ], + [ + 0.017710983753204346, + 0.9992865920066833, + -0.03335624933242798, + -0.03339592026055607 + ], + [ + 0.017244551330804825, + 0.03305122256278992, + 0.9993048906326294, + -0.036218809199160956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.018223818391561508, + -0.01651701144874096, + -0.017827605904239742 + ], + [ + 0.01766575500369072, + 0.9992884397506714, + -0.03332552686333656, + -0.03334328028291589 + ], + [ + 0.017112577334046364, + 0.0330236591398716, + 0.9993080496788025, + -0.03660104666158526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.01817375235259533, + -0.01638714037835598, + -0.017701198765423507 + ], + [ + 0.017620524391531944, + 0.9992902278900146, + -0.03329481557011604, + -0.03329068048541516 + ], + [ + 0.016980601474642754, + 0.03299609199166298, + 0.9993112087249756, + -0.036983322274236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.999703586101532, + -0.01812369003891945, + -0.016257265582680702, + -0.017574911626157153 + ], + [ + 0.017575286328792572, + 0.9992920756340027, + -0.033264096826314926, + -0.033238099227078786 + ], + [ + 0.016848625615239143, + 0.03296850994229317, + 0.9993143677711487, + -0.037365583417387715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.018073633313179016, + -0.016127392649650574, + -0.01744869956785665 + ], + [ + 0.01753004640340805, + 0.999293863773346, + -0.0332333967089653, + -0.033185572744538094 + ], + [ + 0.016716651618480682, + 0.032940931618213654, + 0.999317467212677, + -0.03774793205488567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660095, + -0.018023576587438583, + -0.01599751226603985, + -0.017322624425664856 + ], + [ + 0.017484799027442932, + 0.999295711517334, + -0.033202700316905975, + -0.03313304200207339 + ], + [ + 0.01658467762172222, + 0.032913342118263245, + 0.9993206262588501, + -0.038130216853825616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.017973529174923897, + -0.015867633745074272, + -0.017196622504911163 + ], + [ + 0.017439553514122963, + 0.9992974996566772, + -0.03317200765013695, + -0.033080566599653353 + ], + [ + 0.01645270548760891, + 0.03288574889302254, + 0.9993236660957336, + -0.03851258728514858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.01792348176240921, + -0.015737753361463547, + -0.017070736795289747 + ], + [ + 0.017394300550222397, + 0.9992992877960205, + -0.03314131498336792, + -0.033028113156182995 + ], + [ + 0.016320735216140747, + 0.032858140766620636, + 0.999326765537262, + -0.03889494533348579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.017873438075184822, + -0.015607871115207672, + -0.016944943084751713 + ], + [ + 0.017349043861031532, + 0.9993010759353638, + -0.033110640943050385, + -0.032975684633190165 + ], + [ + 0.016188763082027435, + 0.03283053636550903, + 0.9993298053741455, + -0.03927733915454657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.01782339997589588, + -0.015477987937629223, + -0.016819250650283057 + ], + [ + 0.01730378530919552, + 0.9993029236793518, + -0.03307996690273285, + -0.03292330413059211 + ], + [ + 0.01605679653584957, + 0.032802924513816833, + 0.999332845211029, + -0.039659770793246424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.01777336187660694, + -0.01534810196608305, + -0.01669366702156835 + ], + [ + 0.017258519306778908, + 0.9993047118186951, + -0.03304930403828621, + -0.03287093765316648 + ], + [ + 0.015924828127026558, + 0.03277530148625374, + 0.9993358850479126, + -0.04004218809552117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.0177233275026083, + -0.015218214131891727, + -0.016568186574822067 + ], + [ + 0.017213249579072, + 0.9993064999580383, + -0.03301863744854927, + -0.032818608168341125 + ], + [ + 0.015792859718203545, + 0.032747674733400345, + 0.9993388652801514, + -0.04042464023091631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591675, + -0.017673300579190254, + -0.015088326297700405, + -0.016442816683469207 + ], + [ + 0.01716797985136509, + 0.9993082880973816, + -0.032987985759973526, + -0.032766299984694526 + ], + [ + 0.01566089689731598, + 0.032720040529966354, + 0.9993418455123901, + -0.04080707891133056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.01762327365577221, + -0.014958432875573635, + -0.016317542687167556 + ], + [ + 0.017122698947787285, + 0.9993100762367249, + -0.03295733034610748, + -0.03271402133683281 + ], + [ + 0.01552892941981554, + 0.03269239515066147, + 0.9993448257446289, + -0.041189555243090197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.017573250457644463, + -0.01482854038476944, + -0.016192364309248065 + ], + [ + 0.01707741804420948, + 0.9993118643760681, + -0.032926686108112335, + -0.03266178275688423 + ], + [ + 0.0153969656676054, + 0.032664746046066284, + 0.9993477463722229, + -0.041572066516104976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.017523229122161865, + -0.014698644168674946, + -0.016067281753120936 + ], + [ + 0.017032131552696228, + 0.9993136525154114, + -0.03289603814482689, + -0.032609577434893434 + ], + [ + 0.01526500005275011, + 0.032637085765600204, + 0.9993506669998169, + -0.04195461562341742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.017473215237259865, + -0.014568750746548176, + -0.015942313360775114 + ], + [ + 0.016986841335892677, + 0.9993154406547546, + -0.03286540508270264, + -0.03255738964826492 + ], + [ + 0.015133040957152843, + 0.032609425485134125, + 0.9993535876274109, + -0.042337149712471406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.017423205077648163, + -0.014438850805163383, + -0.01581744091920399 + ], + [ + 0.016941551119089127, + 0.9993171691894531, + -0.03283478319644928, + -0.032505241896816875 + ], + [ + 0.015001079067587852, + 0.03258176147937775, + 0.9993565082550049, + -0.04271972268356096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.01737319864332676, + -0.014308947138488293, + -0.015692686662077904 + ], + [ + 0.01689625345170498, + 0.9993189573287964, + -0.03280416503548622, + -0.03245311215145817 + ], + [ + 0.014869115315377712, + 0.03255408629775047, + 0.9993593692779541, + -0.043102278175791056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733643, + -0.017323190346360207, + -0.0141790471971035, + -0.015568022314599368 + ], + [ + 0.016850950196385384, + 0.9993207454681396, + -0.03277355059981346, + -0.03240101903396421 + ], + [ + 0.014737159013748169, + 0.0325264073908329, + 0.9993622303009033, + -0.04348487145244047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.01727319322526455, + -0.014049142599105835, + -0.01544345943374115 + ], + [ + 0.01680564694106579, + 0.9993225336074829, + -0.0327429436147213, + -0.032348954917621416 + ], + [ + 0.014605199918150902, + 0.03249872103333473, + 0.9993650317192078, + -0.04386749930453787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.017223196104168892, + -0.01391923800110817, + -0.01531900712230465 + ], + [ + 0.016760336235165596, + 0.9993242621421814, + -0.03271232917904854, + -0.03229692048513989 + ], + [ + 0.014473242685198784, + 0.03247101977467537, + 0.999367892742157, + -0.04425011573819186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957642, + -0.017173198983073235, + -0.01378933060914278, + -0.015194652472704524 + ], + [ + 0.016715021803975105, + 0.9993260502815247, + -0.03268173336982727, + -0.03224491452385192 + ], + [ + 0.01434128638356924, + 0.03244331479072571, + 0.9993706941604614, + -0.044632766930246134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.017123209312558174, + -0.013659421354532242, + -0.015070395444414606 + ], + [ + 0.016669703647494316, + 0.9993277788162231, + -0.0326511412858963, + -0.032192945165489505 + ], + [ + 0.014209331944584846, + 0.03241560608148575, + 0.9993734359741211, + -0.045015452805883156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.01707322709262371, + -0.013529511168599129, + -0.014946232270059725 + ], + [ + 0.016624385491013527, + 0.9993295669555664, + -0.03262055665254593, + -0.03214100850239458 + ], + [ + 0.014077378436923027, + 0.03238789737224579, + 0.9993762373924255, + -0.04539817944208012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.0170232392847538, + -0.013399599120020866, + -0.014822183484718142 + ], + [ + 0.016579054296016693, + 0.9993312954902649, + -0.03258997201919556, + -0.0320891011584254 + ], + [ + 0.013945424929261208, + 0.032360173761844635, + 0.9993789792060852, + -0.04578088832508664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.016973262652754784, + -0.013269683346152306, + -0.014698251043777585 + ], + [ + 0.016533726826310158, + 0.9993330240249634, + -0.03255940228700638, + -0.032037207509184484 + ], + [ + 0.013813471421599388, + 0.03233245015144348, + 0.9993817210197449, + -0.04616358320435283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.01692328415811062, + -0.013139765709638596, + -0.014574394813859562 + ], + [ + 0.016488390043377876, + 0.9993348121643066, + -0.0325288325548172, + -0.031985361793051205 + ], + [ + 0.013681519776582718, + 0.032304711639881134, + 0.9993844032287598, + -0.046546364538800206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080505, + -0.0168733112514019, + -0.013009847141802311, + -0.014450651072900913 + ], + [ + 0.016443051397800446, + 0.9993365406990051, + -0.03249826654791832, + -0.031933537749067015 + ], + [ + 0.013549569062888622, + 0.03227696940302849, + 0.9993871450424194, + -0.046929134995283006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077759, + -0.01682334393262863, + -0.012879930436611176, + -0.014327004781795596 + ], + [ + 0.016397710889577866, + 0.9993382692337036, + -0.032467711716890335, + -0.03188174617745637 + ], + [ + 0.013417622074484825, + 0.032249223440885544, + 0.9993897676467896, + -0.047311936036749866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.01677337847650051, + -0.012750009074807167, + -0.014203474891983814 + ], + [ + 0.016352364793419838, + 0.9993399977684021, + -0.03243716061115265, + -0.03182997998769812 + ], + [ + 0.013285674154758453, + 0.032221466302871704, + 0.9993924498558044, + -0.04769472620025215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.01672341860830784, + -0.01262008585035801, + -0.014080039847439552 + ], + [ + 0.01630701683461666, + 0.9993417263031006, + -0.03240661695599556, + -0.031778242711803906 + ], + [ + 0.01315372809767723, + 0.032193709164857864, + 0.9993950724601746, + -0.04807755121372827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.016673460602760315, + -0.012490159831941128, + -0.013956699698041173 + ], + [ + 0.016261659562587738, + 0.9993434548377991, + -0.03237607330083847, + -0.031726545896614944 + ], + [ + 0.013021781109273434, + 0.03216593712568283, + 0.9993976950645447, + -0.04846041264795703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.01662350445985794, + -0.012360233813524246, + -0.01383347665524757 + ], + [ + 0.016216300427913666, + 0.9993451833724976, + -0.032345544546842575, + -0.03167486642350961 + ], + [ + 0.012889835983514786, + 0.0321381650865078, + 0.9994003176689148, + -0.048843260211519364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.016573552042245865, + -0.012230303138494492, + -0.013710350471560426 + ], + [ + 0.016170937567949295, + 0.999346911907196, + -0.03231501206755638, + -0.031623220141338004 + ], + [ + 0.012757889926433563, + 0.03211038187146187, + 0.9994028806686401, + -0.04922614203469835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.016523605212569237, + -0.01210037525743246, + -0.013587317037859845 + ], + [ + 0.016125569120049477, + 0.9993486404418945, + -0.03228449076414108, + -0.03157161372600739 + ], + [ + 0.012625950388610363, + 0.03208259493112564, + 0.9994054436683655, + -0.04960906116007418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.016473662108182907, + -0.011970441788434982, + -0.013464398212949102 + ], + [ + 0.016080200672149658, + 0.999350368976593, + -0.03225398063659668, + -0.031520024811747684 + ], + [ + 0.012494007125496864, + 0.032054804265499115, + 0.9994080066680908, + -0.04999196636490524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266174, + -0.016423722729086876, + -0.011840508319437504, + -0.013341575080458714 + ], + [ + 0.016034824773669243, + 0.9993520379066467, + -0.03222346678376198, + -0.03146846535222052 + ], + [ + 0.012362065725028515, + 0.032027002424001694, + 0.9994105696678162, + -0.0503749081734412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.016373785212635994, + -0.011710572987794876, + -0.013218848671467982 + ], + [ + 0.01598944701254368, + 0.9993537664413452, + -0.032192956656217575, + -0.031416949854236265 + ], + [ + 0.012230126187205315, + 0.03199918940663338, + 0.9994130730628967, + -0.050757884091958715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.01632385142147541, + -0.011580638587474823, + -0.013096240257930058 + ], + [ + 0.015944061800837517, + 0.9993554949760437, + -0.032162461429834366, + -0.03136545163287029 + ], + [ + 0.012098189443349838, + 0.03197137638926506, + 0.9994155764579773, + -0.05114084627288374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.016273923218250275, + -0.011450696736574173, + -0.012973725148885819 + ], + [ + 0.015898674726486206, + 0.9993571639060974, + -0.032131969928741455, + -0.03131399362905255 + ], + [ + 0.011966248974204063, + 0.031943559646606445, + 0.9994180202484131, + -0.05152384269686424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.01622399501502514, + -0.011320755816996098, + -0.012851305688228691 + ], + [ + 0.015853283926844597, + 0.9993588924407959, + -0.03210148215293884, + -0.031262553486365155 + ], + [ + 0.011834311299026012, + 0.031915731728076935, + 0.9994205236434937, + -0.05190687842616445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.01617407612502575, + -0.011190813966095448, + -0.01272900060411527 + ], + [ + 0.01580789126455784, + 0.9993605613708496, + -0.03207100182771683, + -0.031211145895544953 + ], + [ + 0.011702376417815685, + 0.03188789635896683, + 0.9994229674339294, + -0.052289896893069523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.01612415537238121, + -0.011060870252549648, + -0.0126067922544124 + ], + [ + 0.015762489289045334, + 0.9993622899055481, + -0.03204053267836571, + -0.0311597780905134 + ], + [ + 0.011570443399250507, + 0.03186005726456642, + 0.9994253516197205, + -0.0526729492455035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.01607424020767212, + -0.0109309246763587, + -0.01248467971013555 + ], + [ + 0.01571708545088768, + 0.9993639588356018, + -0.03201005607843399, + -0.031108436200409255 + ], + [ + 0.01143851038068533, + 0.03183220326900482, + 0.9994277954101562, + -0.053056042325180255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.016024328768253326, + -0.010800977237522602, + -0.012362683462719414 + ], + [ + 0.015671677887439728, + 0.9993656277656555, + -0.03197959437966347, + -0.031057115246748326 + ], + [ + 0.011306577362120152, + 0.03180435672402382, + 0.9994301795959473, + -0.05343911755210467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.01597442291676998, + -0.010671027936041355, + -0.012240780231437673 + ], + [ + 0.015626268461346626, + 0.999367356300354, + -0.03194914013147354, + -0.031005830535953512 + ], + [ + 0.011174646206200123, + 0.03177649527788162, + 0.9994325041770935, + -0.05382222630703143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.015924515202641487, + -0.010541076771914959, + -0.012118994233015316 + ], + [ + 0.015580850653350353, + 0.9993690252304077, + -0.03191868215799332, + -0.030954564072846368 + ], + [ + 0.011042715050280094, + 0.03174862265586853, + 0.9994348883628845, + -0.05420532412573727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.01587461680173874, + -0.010411124676465988, + -0.011997283506499423 + ], + [ + 0.015535433776676655, + 0.9993706941604614, + -0.031888239085674286, + -0.030903352039503753 + ], + [ + 0.01091078668832779, + 0.03172075003385544, + 0.9994372129440308, + -0.05458850780946191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.01582472026348114, + -0.010281172581017017, + -0.011875689908410092 + ], + [ + 0.015490010380744934, + 0.9993723630905151, + -0.03185780346393585, + -0.03085215387234628 + ], + [ + 0.010778860189020634, + 0.031692877411842346, + 0.999439537525177, + -0.05497167667463639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.01577482372522354, + -0.010151215828955173, + -0.011754209986229322 + ], + [ + 0.015444581396877766, + 0.9993740320205688, + -0.03182736784219742, + -0.03080097744903804 + ], + [ + 0.010646932758390903, + 0.03166498988866806, + 0.9994418025016785, + -0.05535482653128334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.01572493650019169, + -0.010021258145570755, + -0.011632827693541927 + ], + [ + 0.015399151481688023, + 0.9993757009506226, + -0.03179694339632988, + -0.0307498407367009 + ], + [ + 0.010515006259083748, + 0.031637098640203476, + 0.9994441270828247, + -0.055738018121313154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137573, + -0.015675049275159836, + -0.009891296736896038, + -0.011511537609582914 + ], + [ + 0.015353715047240257, + 0.9993773698806763, + -0.03176651895046234, + -0.030698733209441397 + ], + [ + 0.010383079759776592, + 0.0316091924905777, + 0.9994463920593262, + -0.05612124257417061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716797, + -0.015625163912773132, + -0.00976133719086647, + -0.011390346855268069 + ], + [ + 0.015308273024857044, + 0.99937903881073, + -0.0317361019551754, + -0.030647665597342548 + ], + [ + 0.010251156985759735, + 0.03158128634095192, + 0.9994485974311829, + -0.05650450167768327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9998323321342468, + -0.015575285069644451, + -0.009631376713514328, + -0.011269268635114866 + ], + [ + 0.015262830071151257, + 0.9993807077407837, + -0.031705692410469055, + -0.030596619264600666 + ], + [ + 0.010119237005710602, + 0.031553372740745544, + 0.9994508624076843, + -0.056887748988469954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875244, + -0.015525411814451218, + -0.009501411579549313, + -0.011148290137787618 + ], + [ + 0.015217384323477745, + 0.9993823766708374, + -0.031675294041633606, + -0.030545597701142523 + ], + [ + 0.009987314231693745, + 0.03152546286582947, + 0.999453067779541, + -0.057271029503049645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.01547553762793541, + -0.009371441788971424, + -0.011027406712518575 + ], + [ + 0.015171930193901062, + 0.9993840456008911, + -0.03164489194750786, + -0.03049461670438116 + ], + [ + 0.009855390526354313, + 0.0314975269138813, + 0.9994552135467529, + -0.05765434407792736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.015425669960677624, + -0.00924147479236126, + -0.010906632808056586 + ], + [ + 0.015126475133001804, + 0.9993856549263, + -0.03161449730396271, + -0.03044366069044528 + ], + [ + 0.009723471477627754, + 0.031469590961933136, + 0.9994574189186096, + -0.058037646419357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.015375804156064987, + -0.00911150686442852, + -0.01078596306364656 + ], + [ + 0.015081014484167099, + 0.9993873238563538, + -0.031584110110998154, + -0.030392729649982693 + ], + [ + 0.00959155522286892, + 0.03144165500998497, + 0.9994595646858215, + -0.05842098277120629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.015325943008065224, + -0.008981536142528057, + -0.010665401321870887 + ], + [ + 0.01503554917871952, + 0.9993889331817627, + -0.0315537266433239, + -0.030341827531177628 + ], + [ + 0.00945963803678751, + 0.03141370788216591, + 0.9994617104530334, + -0.05880430485336226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.015276085585355759, + -0.008851563557982445, + -0.010544941008527408 + ], + [ + 0.014990082010626793, + 0.9993906021118164, + -0.03152335062623024, + -0.030290950370258866 + ], + [ + 0.00932772271335125, + 0.03138575330376625, + 0.9994637966156006, + -0.059187659682027965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025452, + -0.015226231887936592, + -0.008721589110791683, + -0.010424571881405853 + ], + [ + 0.014944609254598618, + 0.9993922114372253, + -0.03149298578500748, + -0.030240116548962175 + ], + [ + 0.00919580738991499, + 0.031357795000076294, + 0.9994659423828125, + -0.059571055645341334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.015176380053162575, + -0.008591610938310623, + -0.01030429964924083 + ], + [ + 0.014899132773280144, + 0.999393880367279, + -0.03146261349320412, + -0.03018931978728981 + ], + [ + 0.00906389206647873, + 0.03132982179522514, + 0.9994680285453796, + -0.059954483839624775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.01512653473764658, + -0.008461636491119862, + -0.010184143397520651 + ], + [ + 0.014853653497993946, + 0.999395489692688, + -0.03143225982785225, + -0.030138536073485676 + ], + [ + 0.008931982330977917, + 0.03130185231566429, + 0.999470055103302, + -0.06033789436430301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.015076691284775734, + -0.008331656455993652, + -0.01006408509521679 + ], + [ + 0.0148081686347723, + 0.9993971586227417, + -0.03140191361308098, + -0.030087781005449375 + ], + [ + 0.008800070732831955, + 0.03127387538552284, + 0.9994721412658691, + -0.0607213451172455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.015026850625872612, + -0.008201674558222294, + -0.009944136614938535 + ], + [ + 0.014762679114937782, + 0.9993987679481506, + -0.03137156739830971, + -0.03003705878231565 + ], + [ + 0.008668159134685993, + 0.031245891004800797, + 0.9994741678237915, + -0.06110477721938186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.014977015554904938, + -0.00807169172912836, + -0.00982429137897666 + ], + [ + 0.014717187732458115, + 0.9994003772735596, + -0.031341228634119034, + -0.029986365192480168 + ], + [ + 0.008536250330507755, + 0.031217899173498154, + 0.9994761347770691, + -0.06148824298278931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.014927184209227562, + -0.007941707037389278, + -0.009704537342485648 + ], + [ + 0.014671692624688148, + 0.9994019865989685, + -0.03131089732050896, + -0.029935703951881023 + ], + [ + 0.008404341526329517, + 0.031189901754260063, + 0.9994781613349915, + -0.06187174969789218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.014877352863550186, + -0.007811722811311483, + -0.00958489949959155 + ], + [ + 0.014626190066337585, + 0.9994035959243774, + -0.03128056228160858, + -0.029885072064698988 + ], + [ + 0.008272436447441578, + 0.031161891296505928, + 0.999480128288269, + -0.06225523647333975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.014827528968453407, + -0.007681735325604677, + -0.009465338981994836 + ], + [ + 0.014580687507987022, + 0.9994052648544312, + -0.0312502421438694, + -0.02983448319760576 + ], + [ + 0.008140530437231064, + 0.031133878976106644, + 0.9994820952415466, + -0.06263881243909533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.014777708798646927, + -0.007551745045930147, + -0.009345910710645021 + ], + [ + 0.014535179361701012, + 0.9994068741798401, + -0.031219925731420517, + -0.02978390082716942 + ], + [ + 0.00800862442702055, + 0.03110586106777191, + 0.9994840025901794, + -0.06302231737552795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.014727888628840446, + -0.0074217552319169044, + -0.009226562315403293 + ], + [ + 0.014489665627479553, + 0.999408483505249, + -0.03118961676955223, + -0.029733365675956636 + ], + [ + 0.007876722142100334, + 0.031077835708856583, + 0.9994859099388123, + -0.06340591215088215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.014678074046969414, + -0.007291760295629501, + -0.009107325839416501 + ], + [ + 0.014444148167967796, + 0.9994100332260132, + -0.031159311532974243, + -0.029682848184802043 + ], + [ + 0.007744817063212395, + 0.031049802899360657, + 0.9994878172874451, + -0.06378949012872316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.014628264121711254, + -0.007161768618971109, + -0.008988189541590575 + ], + [ + 0.014398629777133465, + 0.9994116425514221, + -0.031129013746976852, + -0.029632370446703422 + ], + [ + 0.00761291803792119, + 0.031021766364574432, + 0.9994897246360779, + -0.06417310648991348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.014578456990420818, + -0.007031770423054695, + -0.00886916340207954 + ], + [ + 0.014353104867041111, + 0.999413251876831, + -0.03109871968626976, + -0.029581914081483706 + ], + [ + 0.007481016218662262, + 0.030993718653917313, + 0.9994915723800659, + -0.064556703127718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.014528652653098106, + -0.006901774555444717, + -0.008750237505025694 + ], + [ + 0.014307575300335884, + 0.99941486120224, + -0.031068434938788414, + -0.02953148242397912 + ], + [ + 0.007349118590354919, + 0.030965669080615044, + 0.999493420124054, + -0.0649403371676709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.014478851109743118, + -0.006771773565560579, + -0.008631408639704208 + ], + [ + 0.014262041077017784, + 0.9994164705276489, + -0.031038155779242516, + -0.029481098072985226 + ], + [ + 0.00721721863374114, + 0.03093761019408703, + 0.999495267868042, + -0.06532400814411093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.014429057016968727, + -0.00664177443832159, + -0.00851269029431575 + ], + [ + 0.014216506853699684, + 0.9994180202484131, + -0.031007878482341766, + -0.029430727754177908 + ], + [ + 0.007085323333740234, + 0.030909541994333267, + 0.9994970560073853, + -0.06570765834114667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.014379264786839485, + -0.00651177391409874, + -0.00839406965713496 + ], + [ + 0.014170965179800987, + 0.999419629573822, + -0.030977610498666763, + -0.029380389567947786 + ], + [ + 0.00695342943072319, + 0.030881471931934357, + 0.9994988441467285, + -0.06609134589045242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.014329474419355392, + -0.006381768733263016, + -0.008275543235117672 + ], + [ + 0.014125419780611992, + 0.9994211792945862, + -0.03094734437763691, + -0.02933008775473514 + ], + [ + 0.006821533665060997, + 0.0308533925563097, + 0.9995006322860718, + -0.06647507032636693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.014279690571129322, + -0.006251762621104717, + -0.00815713591483971 + ], + [ + 0.014079871587455273, + 0.9994227886199951, + -0.03091708943247795, + -0.0292798067485937 + ], + [ + 0.0066896406933665276, + 0.030825309455394745, + 0.999502420425415, + -0.06685878089180988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.014229905791580677, + -0.006121753714978695, + -0.008038820822384192 + ], + [ + 0.014034316875040531, + 0.9994243383407593, + -0.030886836349964142, + -0.02922955837770985 + ], + [ + 0.0065577467903494835, + 0.030797217041254044, + 0.9995041489601135, + -0.06724252221661631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661865, + -0.014180131256580353, + -0.0059917462058365345, + -0.007920604178907982 + ], + [ + 0.013988763093948364, + 0.9994259476661682, + -0.03085659258067608, + -0.029179345828843416 + ], + [ + 0.006425857078284025, + 0.030769119039177895, + 0.999505877494812, + -0.06762630084381444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.014130355790257454, + -0.005861735437065363, + -0.007802503083532512 + ], + [ + 0.013943200930953026, + 0.9994274973869324, + -0.030826354399323463, + -0.029129158184088174 + ], + [ + 0.00629396690055728, + 0.030741015449166298, + 0.9995075464248657, + -0.06801006077052285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.014080582186579704, + -0.005731724202632904, + -0.007684496847842528 + ], + [ + 0.013897635042667389, + 0.9994290471076965, + -0.030796119943261147, + -0.029078999297327077 + ], + [ + 0.0061620790511369705, + 0.030712904408574104, + 0.9995092749595642, + -0.06839386089217836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.014030814170837402, + -0.005601710639894009, + -0.0075665865401312645 + ], + [ + 0.013852065429091454, + 0.9994306564331055, + -0.030765891075134277, + -0.029028869027497878 + ], + [ + 0.006030191667377949, + 0.030684784054756165, + 0.9995109438896179, + -0.06877769348620745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.013981052674353123, + -0.005471696611493826, + -0.007448793446575 + ], + [ + 0.013806494884192944, + 0.9994322061538696, + -0.030735671520233154, + -0.028978772681190878 + ], + [ + 0.0058983066119253635, + 0.030656661838293076, + 0.9995125532150269, + -0.06916150632372835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.013931291177868843, + -0.005341679789125919, + -0.00733109445712494 + ], + [ + 0.013760915026068687, + 0.9994337558746338, + -0.03070545196533203, + -0.02892870162321434 + ], + [ + 0.005766421556472778, + 0.03062852844595909, + 0.9995142221450806, + -0.06954536077811939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.013881535269320011, + -0.005211659707129002, + -0.007213492403936934 + ], + [ + 0.013715335167944431, + 0.999435305595398, + -0.030675241723656654, + -0.028878668198463308 + ], + [ + 0.005634536035358906, + 0.03060038946568966, + 0.9995158314704895, + -0.06992924664886552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372192, + -0.013831784017384052, + -0.005081639159470797, + -0.007096003845653586 + ], + [ + 0.013669752515852451, + 0.9994368553161621, + -0.030645040795207024, + -0.028828653768796054 + ], + [ + 0.00550265284255147, + 0.030572248622775078, + 0.9995174407958984, + -0.07031311710252111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440491, + -0.013782033696770668, + -0.004951618146151304, + -0.0069786124847143515 + ], + [ + 0.0136241614818573, + 0.9994384050369263, + -0.030614839866757393, + -0.028778672062452867 + ], + [ + 0.00537077197805047, + 0.0305440966039896, + 0.9995189905166626, + -0.07069701980409762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.013732288032770157, + -0.004821593873202801, + -0.0068613194646196885 + ], + [ + 0.013578569516539574, + 0.9994399547576904, + -0.03058464825153351, + -0.02872872609941281 + ], + [ + 0.005238890647888184, + 0.030515938997268677, + 0.9995205402374268, + -0.07108096058975329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.013682547025382519, + -0.004691570997238159, + -0.006744141198663532 + ], + [ + 0.013532972894608974, + 0.9994415044784546, + -0.03055446222424507, + -0.02867880683844309 + ], + [ + 0.005107013508677483, + 0.030487775802612305, + 0.9995220899581909, + -0.07146488544277878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.01363280788064003, + -0.004561544395983219, + -0.006627056191219446 + ], + [ + 0.013487370684742928, + 0.9994430541992188, + -0.03052428364753723, + -0.028628912267263464 + ], + [ + 0.004975135438144207, + 0.030459605157375336, + 0.9995236396789551, + -0.07184884605157699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972434998, + -0.013583073392510414, + -0.0044315168634057045, + -0.006510071682443679 + ], + [ + 0.013441765680909157, + 0.9994445443153381, + -0.03049410879611969, + -0.02857905383919323 + ], + [ + 0.004843259230256081, + 0.03043142706155777, + 0.9995251297950745, + -0.07223283922432232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.013533340767025948, + -0.004301486071199179, + -0.0063931971669555585 + ], + [ + 0.013396155089139938, + 0.9994460940361023, + -0.030463935807347298, + -0.028529220517865037 + ], + [ + 0.004711382556706667, + 0.030403239652514458, + 0.9995266199111938, + -0.07261681641455912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385803, + -0.013483613729476929, + -0.00417145574465394, + -0.006276418854751348 + ], + [ + 0.01335054263472557, + 0.9994476437568665, + -0.0304337739944458, + -0.02847941716408131 + ], + [ + 0.004579509142786264, + 0.030375052243471146, + 0.9995281100273132, + -0.07300083024201283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.013433892279863358, + -0.00404142402112484, + -0.006159738753630028 + ], + [ + 0.013304928317666054, + 0.9994491338729858, + -0.03040361776947975, + -0.028429646063673944 + ], + [ + 0.004447637125849724, + 0.030346855521202087, + 0.9995295405387878, + -0.07338487604305648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.013384170830249786, + -0.003911389037966728, + -0.006043177035298183 + ], + [ + 0.01325930468738079, + 0.99945068359375, + -0.030373465269804, + -0.028379901768211042 + ], + [ + 0.004315763711929321, + 0.030318651348352432, + 0.9995309710502625, + -0.0737689058117132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.013334454037249088, + -0.0037813540548086166, + -0.005926705972061621 + ], + [ + 0.013213680125772953, + 0.9994521737098694, + -0.030343323945999146, + -0.02833018554647348 + ], + [ + 0.004183894023299217, + 0.03029044345021248, + 0.9995324015617371, + -0.07415297356469236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.013284740969538689, + -0.0036513160448521376, + -0.005810352347237857 + ], + [ + 0.013168049976229668, + 0.9994537234306335, + -0.03031318448483944, + -0.028280494399524632 + ], + [ + 0.004052024334669113, + 0.03026222623884678, + 0.9995337724685669, + -0.07453702054684007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.013235030695796013, + -0.0035212745424360037, + -0.0056940761549694454 + ], + [ + 0.013122417032718658, + 0.9994552135467529, + -0.03028305247426033, + -0.028230844642265572 + ], + [ + 0.003920153249055147, + 0.03023400530219078, + 0.9995351433753967, + -0.07492115575485087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.013185326009988785, + -0.0033912372309714556, + -0.005577934524395102 + ], + [ + 0.01307678036391735, + 0.9994567036628723, + -0.03025292418897152, + -0.028181210487582195 + ], + [ + 0.0037882893811911345, + 0.030205773189663887, + 0.9995365142822266, + -0.0753052236578548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.01313562411814928, + -0.003261196194216609, + -0.005461868019209528 + ], + [ + 0.01303113903850317, + 0.9994582533836365, + -0.030222803354263306, + -0.028131621432291913 + ], + [ + 0.0036564248148351908, + 0.030177537351846695, + 0.9995378851890564, + -0.07568937932106055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445862, + -0.01308592688292265, + -0.0031311502680182457, + -0.005345920510745946 + ], + [ + 0.012985494919121265, + 0.9994597434997559, + -0.03019268624484539, + -0.028082046104462577 + ], + [ + 0.003524557687342167, + 0.030149294063448906, + 0.9995391964912415, + -0.07607351592644487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.013036231510341167, + -0.0030011041089892387, + -0.005230065082515508 + ], + [ + 0.012939845211803913, + 0.9994612336158752, + -0.030162576586008072, + -0.028032512135149047 + ], + [ + 0.0033926935866475105, + 0.03012104332447052, + 0.9995405077934265, + -0.07645768855374978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071533, + -0.012986541725695133, + -0.0028710588812828064, + -0.005114309555582047 + ], + [ + 0.012894193641841412, + 0.9994627237319946, + -0.03013247437775135, + -0.027983010201773385 + ], + [ + 0.0032608332112431526, + 0.030092788860201836, + 0.9995418190956116, + -0.0768418972029752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.012936853803694248, + -0.0027410101611167192, + -0.004998668263253276 + ], + [ + 0.012848534621298313, + 0.999464213848114, + -0.030102374032139778, + -0.027933527717062867 + ], + [ + 0.0031289716716855764, + 0.030064525082707405, + 0.9995430707931519, + -0.07722608527269946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.012887169606983662, + -0.0026109616737812757, + -0.004883119480871443 + ], + [ + 0.012802873738110065, + 0.9994657039642334, + -0.030072281137108803, + -0.027884075391616782 + ], + [ + 0.0029971131589263678, + 0.030036253854632378, + 0.9995443224906921, + -0.07761030884880463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.012837491929531097, + -0.0024809096939861774, + -0.004767690061018744 + ], + [ + 0.012757210060954094, + 0.9994671940803528, + -0.030042195692658424, + -0.02783465135343778 + ], + [ + 0.0028652544133365154, + 0.03000797890126705, + 0.9995455741882324, + -0.07799451903685552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.01278781145811081, + -0.002350856317207217, + -0.0046523542213545935 + ], + [ + 0.01271153800189495, + 0.9994686841964722, + -0.030012115836143494, + -0.02778525574904356 + ], + [ + 0.0027333965990692377, + 0.02997969463467598, + 0.9995467662811279, + -0.07837875927778966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833801, + -0.012738140299916267, + -0.0022208034060895443, + -0.0045371159979348775 + ], + [ + 0.012665865942835808, + 0.9994701743125916, + -0.02998204343020916, + -0.027735894002706186 + ], + [ + 0.002601542044430971, + 0.029951410368084908, + 0.9995479583740234, + -0.07876303544088761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.012688469141721725, + -0.002090748865157366, + -0.00442197277331452 + ], + [ + 0.012620186433196068, + 0.9994716644287109, + -0.029951974749565125, + -0.027686572007866086 + ], + [ + 0.00246968911960721, + 0.02992311120033264, + 0.999549150466919, + -0.07914734892313326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.012638804502785206, + -0.0019606873393058777, + -0.004306947821790205 + ], + [ + 0.012574505992233753, + 0.9994731545448303, + -0.029921913519501686, + -0.0276372670916895 + ], + [ + 0.002337831538170576, + 0.029894812032580376, + 0.9995503425598145, + -0.07953164617347855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.01258914452046156, + -0.0018306297715753317, + -0.004192018331998811 + ], + [ + 0.012528822757303715, + 0.9994746446609497, + -0.029891854152083397, + -0.02758799648559243 + ], + [ + 0.002205980708822608, + 0.029866499826312065, + 0.9995514750480652, + -0.07991597425839454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.012539485469460487, + -0.0017005691770464182, + -0.00407720305888707 + ], + [ + 0.012483133003115654, + 0.9994760751724243, + -0.029861805960536003, + -0.02753874262459732 + ], + [ + 0.00207412987947464, + 0.029838187620043755, + 0.9995526075363159, + -0.0803002874585157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.012489832006394863, + -0.0015705085825175047, + -0.0039624803249478716 + ], + [ + 0.012437441386282444, + 0.9994775652885437, + -0.029831761494278908, + -0.027489528488601603 + ], + [ + 0.001942281611263752, + 0.02980986423790455, + 0.9995536804199219, + -0.08068463185911211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874756, + -0.012440181337296963, + -0.0014404463581740856, + -0.0038478605158892014 + ], + [ + 0.012391743250191212, + 0.9994789958000183, + -0.02980172075331211, + -0.02744034289705828 + ], + [ + 0.001810434740036726, + 0.029781533405184746, + 0.9995548129081726, + -0.08106901631320369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525024, + -0.012390530668199062, + -0.0013103809906169772, + -0.003733350051894285 + ], + [ + 0.012346039526164532, + 0.9994804859161377, + -0.02977168560028076, + -0.027391183820541433 + ], + [ + 0.0016785872867330909, + 0.029753196984529495, + 0.9995558857917786, + -0.08145338162647318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.012340889312326908, + -0.0011803125962615013, + -0.003618940311994513 + ], + [ + 0.012300335802137852, + 0.9994819164276123, + -0.029741661623120308, + -0.027342056351320265 + ], + [ + 0.001546739600598812, + 0.029724856838583946, + 0.9995568990707397, + -0.08183777708419945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9999238848686218, + -0.012291247956454754, + -0.001050242455676198, + -0.0035046251338739028 + ], + [ + 0.012254626490175724, + 0.9994834065437317, + -0.029711641371250153, + -0.02729296113002001 + ], + [ + 0.0014148929622024298, + 0.0296965092420578, + 0.9995579719543457, + -0.08222221448300523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.012241614051163197, + -0.0009201763896271586, + -0.003390406566977922 + ], + [ + 0.012208915315568447, + 0.9994848370552063, + -0.029681628569960594, + -0.02724389968572426 + ], + [ + 0.0012830534251406789, + 0.029668157920241356, + 0.9995589852333069, + -0.08260668151072816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.01219198014587164, + -0.000790105143096298, + -0.0032763021909456434 + ], + [ + 0.012163196690380573, + 0.9994862675666809, + -0.029651617631316185, + -0.027194853878295573 + ], + [ + 0.001151211210526526, + 0.029639793559908867, + 0.9995599985122681, + -0.08299113308823819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.012142352759838104, + -0.0006600305205211043, + -0.0031622957861514676 + ], + [ + 0.012117477133870125, + 0.9994877576828003, + -0.029621616005897522, + -0.02714585656900286 + ], + [ + 0.001019368413835764, + 0.02961142733693123, + 0.9995609521865845, + -0.08337561698887637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.012092728167772293, + -0.0005299564218148589, + -0.003048403305780906 + ], + [ + 0.012071752920746803, + 0.9994891881942749, + -0.029591618105769157, + -0.027096869130950094 + ], + [ + 0.0008875289931893349, + 0.029583053663372993, + 0.9995619058609009, + -0.08376008399243945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.012043104507029057, + -0.000399880635086447, + -0.0029346058560412564 + ], + [ + 0.01202602218836546, + 0.9994906187057495, + -0.029561622068285942, + -0.02704791407876309 + ], + [ + 0.0007556906784884632, + 0.029554666951298714, + 0.9995628595352173, + -0.08414458625299162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937561, + -0.011993487365543842, + -0.00026980513939633965, + -0.0028209067526503337 + ], + [ + 0.011980288662016392, + 0.9994920492172241, + -0.02953164279460907, + -0.026998993788678278 + ], + [ + 0.0006238554487936199, + 0.02952628582715988, + 0.9995638132095337, + -0.084529125633178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011943873949348927, + -0.00013972652959637344, + -0.002707322835388874 + ], + [ + 0.011934553273022175, + 0.9994934797286987, + -0.029501663520932198, + -0.02695010044849692 + ], + [ + 0.0004920198116451502, + 0.029497889801859856, + 0.9995647072792053, + -0.08491364503279328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01189426239579916, + -9.646406397223473e-06, + -0.002593834171554845 + ], + [ + 0.01188881229609251, + 0.9994949102401733, + -0.029471686109900475, + -0.026901233888320844 + ], + [ + 0.0003601855132728815, + 0.029469488188624382, + 0.999565601348877, + -0.0852981982425354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.011844655498862267, + 0.00012043706374242902, + -0.00248044209521182 + ], + [ + 0.011843066662549973, + 0.999496340751648, + -0.029441719874739647, + -0.02685240442829526 + ], + [ + 0.00022835057461634278, + 0.02944107912480831, + 0.9995664954185486, + -0.08568278898769467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749023, + -0.011795052327215672, + 0.0002505199227016419, + -0.0023671655711585415 + ], + [ + 0.011797317303717136, + 0.9994977712631226, + -0.029411757364869118, + -0.026803592251122745 + ], + [ + 9.651906293584034e-05, + 0.029412666335701942, + 0.9995673298835754, + -0.08606735729928047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.01174545381218195, + 0.00038060269434936345, + -0.0022539836923113465 + ], + [ + 0.011751565150916576, + 0.9994992017745972, + -0.029381804168224335, + -0.02675481546187002 + ], + [ + -3.530949470587075e-05, + 0.029384247958660126, + 0.9995681643486023, + -0.08645196169942118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011695857159793377, + 0.0005106886965222657, + -0.0021409025875107233 + ], + [ + 0.011705807410180569, + 0.999500572681427, + -0.02935185469686985, + -0.02670607270524841 + ], + [ + -0.00016713862714823335, + 0.029355822131037712, + 0.9995689988136292, + -0.0868366031194394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011646265164017677, + 0.000640776299405843, + -0.0020279349144265665 + ], + [ + 0.011660046875476837, + 0.9995020031929016, + -0.029321910813450813, + -0.026657350764270858 + ], + [ + -0.00029896647902205586, + 0.029327386990189552, + 0.999569833278656, + -0.08722122847394838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011596676893532276, + 0.0007708650082349777, + -0.001915060139600203 + ], + [ + 0.011614282615482807, + 0.9995034337043762, + -0.029291970655322075, + -0.02660866098236838 + ], + [ + -0.00043079277384094894, + 0.029298944398760796, + 0.9995706081390381, + -0.08760588293365167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.011547092348337173, + 0.0009009555215016007, + -0.001802285897173377 + ], + [ + 0.011568514630198479, + 0.999504804611206, + -0.029262039810419083, + -0.026560012142029767 + ], + [ + -0.0005626180209219456, + 0.02927049994468689, + 0.9995713829994202, + -0.0879905748290154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071411, + -0.01149750966578722, + 0.001031049177981913, + -0.0016896236082928637 + ], + [ + 0.011522739194333553, + 0.9995062351226807, + -0.02923211269080639, + -0.026511374957641297 + ], + [ + -0.0006944435881450772, + 0.02924204431474209, + 0.9995720982551575, + -0.08837524450707511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.011447933502495289, + 0.00116114248521626, + -0.0015770633991371264 + ], + [ + 0.011476964689791203, + 0.9995076060295105, + -0.02920219674706459, + -0.02646277665655483 + ], + [ + -0.0008262660703621805, + 0.029213588684797287, + 0.9995728731155396, + -0.08875995676644988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.011398359201848507, + 0.0012912353267893195, + -0.0014645943151217998 + ], + [ + 0.011431182734668255, + 0.9995090365409851, + -0.029172277078032494, + -0.026414209333049703 + ], + [ + -0.0009580852347426116, + 0.029185118153691292, + 0.9995735883712769, + -0.0891446975157226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.011348787695169449, + 0.0014213332906365395, + -0.0013522428516922012 + ], + [ + 0.011385397985577583, + 0.9995104074478149, + -0.029142368584871292, + -0.026365664113453244 + ], + [ + -0.001089907018467784, + 0.029156643897294998, + 0.9995742440223694, + -0.08952941731997925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.99993497133255, + -0.011299221776425838, + 0.001551430905237794, + -0.0012399803162221194 + ], + [ + 0.011339609511196613, + 0.9995118379592896, + -0.02911246567964554, + -0.02631715269735917 + ], + [ + -0.0012217252515256405, + 0.029128164052963257, + 0.9995749592781067, + -0.08991417879916759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.011249659582972527, + 0.001681528170593083, + -0.0011278258585936105 + ], + [ + 0.011293817311525345, + 0.9995132088661194, + -0.02908257022500038, + -0.026268673035078467 + ], + [ + -0.0013535405742004514, + 0.029099680483341217, + 0.9995756149291992, + -0.0902989705062031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.011200102046132088, + 0.001811628695577383, + -0.0010157831465225338 + ], + [ + 0.011248022317886353, + 0.9995145797729492, + -0.02905268222093582, + -0.0262202158040332 + ], + [ + -0.0014853563625365496, + 0.02907118946313858, + 0.999576210975647, + -0.09068374114352663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068665, + -0.011150544509291649, + 0.001941730733960867, + -0.000903829720327202 + ], + [ + 0.011202219873666763, + 0.999515950679779, + -0.02902279794216156, + -0.026171790671273756 + ], + [ + -0.0016171708703041077, + 0.029042690992355347, + 0.9995768666267395, + -0.09106855068675332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.011100993491709232, + 0.0020718355663120747, + -0.0007919769995713365 + ], + [ + 0.0111564164981246, + 0.9995173811912537, + -0.028992917388677597, + -0.026123399494769182 + ], + [ + -0.0017489854944869876, + 0.029014181345701218, + 0.9995774626731873, + -0.09145339219577642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.011051444336771965, + 0.002201942726969719, + -0.0006802454019680416 + ], + [ + 0.011110605672001839, + 0.9995187520980835, + -0.02896304242312908, + -0.02607503091082538 + ], + [ + -0.0018807994201779366, + 0.02898566983640194, + 0.999578058719635, + -0.09183821837109939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.01100190170109272, + 0.0023320468608289957, + -0.0005686044829135769 + ], + [ + 0.011064795777201653, + 0.9995201230049133, + -0.028933178633451462, + -0.026026695536519692 + ], + [ + -0.0020126078743487597, + 0.028957150876522064, + 0.9995786547660828, + -0.09222307996980253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.010952360928058624, + 0.002462154719978571, + -0.0004570793408328651 + ], + [ + 0.01101897843182087, + 0.9995214939117432, + -0.02890331670641899, + -0.025978371929611124 + ], + [ + -0.00214441679418087, + 0.02892862632870674, + 0.9995791912078857, + -0.09260791846157429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9999371767044067, + -0.010902822948992252, + 0.0025922637432813644, + -0.00034563221779839956 + ], + [ + 0.010973156429827213, + 0.999522864818573, + -0.028873462229967117, + -0.025930106097434853 + ], + [ + -0.002276224549859762, + 0.02890009433031082, + 0.9995797276496887, + -0.09299284680921849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.010853239335119724, + 0.0027225082740187645, + -0.00023419782373821366 + ], + [ + 0.010927286930382252, + 0.9995242357254028, + -0.028843583539128304, + -0.025881809927523137 + ], + [ + -0.0024081668816506863, + 0.028871526941657066, + 0.9995802044868469, + -0.0933776923455298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/push_in/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b705ae6006af408e11549a7eb30a0bba01524bf8 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/push_in/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.0032555165234953165, + -0.005529353395104408, + -0.005581957885457756 + ], + [ + 0.0032319806050509214, + 0.9999856948852539, + -0.004260140471160412, + -0.004678534743644952 + ], + [ + 0.00554314348846674, + 0.0042421817779541016, + 0.9999756217002869, + -0.00032328607355708175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005377934314310551, + -0.011360308155417442, + -0.01119293790606774 + ], + [ + 0.00532000046223402, + 0.9999727010726929, + -0.005123721901327372, + -0.006026597052157923 + ], + [ + 0.011387553066015244, + 0.005062880460172892, + 0.9999223351478577, + -0.001476861593395347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998708367347717, + -0.010394159704446793, + -0.012257437221705914, + -0.013061243564934785 + ], + [ + 0.010184912011027336, + 0.9998034238815308, + -0.01701173558831215, + -0.01795907905286326 + ], + [ + 0.012431849725544453, + 0.0168846994638443, + 0.9997801780700684, + 0.0010222919204196342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014360994100570679, + -0.017254116013646126, + -0.01830107778092558 + ], + [ + 0.013956792652606964, + 0.9996305704116821, + -0.023322783410549164, + -0.024658412096640055 + ], + [ + 0.01758267916738987, + 0.023076094686985016, + 0.9995790719985962, + 0.0010540512290093502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002441, + -0.01868932694196701, + -0.02287096530199051, + -0.02416598382230583 + ], + [ + 0.017997808754444122, + 0.9993855357170105, + -0.030076881870627403, + -0.031840129155338306 + ], + [ + 0.023419030010700226, + 0.029652131721377373, + 0.999285876750946, + 0.0009230602596921526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999367356300354, + -0.022492164745926857, + -0.02754915878176689, + -0.029083083506096855 + ], + [ + 0.021495414897799492, + 0.9991220831871033, + -0.03595762699842453, + -0.038105795981370254 + ], + [ + 0.028333738446235657, + 0.03534270077943802, + 0.998973548412323, + 0.0008341098719599916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.02244180254638195, + -0.027419451624155045, + -0.028970304948266083 + ], + [ + 0.02145053632557392, + 0.9991242289543152, + -0.035926420241594315, + -0.03808052020311106 + ], + [ + 0.028201691806316376, + 0.03531569615006447, + 0.9989781975746155, + 0.0012895570738654127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.022391442209482193, + -0.0272897407412529, + -0.028857421561701527 + ], + [ + 0.021405648440122604, + 0.9991262555122375, + -0.0358952134847641, + -0.038055218310411004 + ], + [ + 0.028069641441106796, + 0.03528868407011032, + 0.9989829063415527, + 0.0017450250131876895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.022341091185808182, + -0.027160027995705605, + -0.028744414722289748 + ], + [ + 0.021360762417316437, + 0.9991283416748047, + -0.03586401417851448, + -0.03802989405661697 + ], + [ + 0.027937596663832664, + 0.035261671990156174, + 0.9989875555038452, + 0.0022004613946055573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.022290736436843872, + -0.02703031711280346, + -0.02863129003121514 + ], + [ + 0.021315868943929672, + 0.9991304278373718, + -0.03583282232284546, + -0.038004554901661734 + ], + [ + 0.027805553749203682, + 0.03523464500904083, + 0.9989922046661377, + 0.0026558667419392563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.02224038913846016, + -0.026900604367256165, + -0.0285180418857346 + ], + [ + 0.02127097174525261, + 0.999132513999939, + -0.03580164536833763, + -0.037979193438608276 + ], + [ + 0.02767351269721985, + 0.03520762547850609, + 0.9989967942237854, + 0.0031112404316118187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.022190045565366745, + -0.02677088789641857, + -0.028404690763254546 + ], + [ + 0.021226070821285248, + 0.9991346001625061, + -0.03577045723795891, + -0.03795380955523028 + ], + [ + 0.027541467919945717, + 0.03518058732151985, + 0.9990013837814331, + 0.0035666347257247407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.02213970199227333, + -0.02664116583764553, + -0.028291219885160982 + ], + [ + 0.02118116244673729, + 0.9991366863250732, + -0.03573928028345108, + -0.03792839963378766 + ], + [ + 0.027409421280026436, + 0.03515353798866272, + 0.9990059733390808, + 0.0040219980522904495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.022089364007115364, + -0.02651144377887249, + -0.02817764417833364 + ], + [ + 0.021136252209544182, + 0.9991387128829956, + -0.03570811077952385, + -0.03790297111706754 + ], + [ + 0.027277378365397453, + 0.03512648865580559, + 0.9990105628967285, + 0.004477381284804585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424072, + -0.022039031609892845, + -0.02638172172009945, + -0.028063945016321028 + ], + [ + 0.021091340109705925, + 0.9991407990455627, + -0.03567694500088692, + -0.037877516540461 + ], + [ + 0.02714533917605877, + 0.03509943559765816, + 0.9990150928497314, + 0.0049327332920991035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954102, + -0.021988702937960625, + -0.02625199593603611, + -0.02795012609947426 + ], + [ + 0.02104642428457737, + 0.9991428256034851, + -0.03564579039812088, + -0.03785204713439343 + ], + [ + 0.027013299986720085, + 0.03507237136363983, + 0.9990196228027344, + 0.005388053816306759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.021938370540738106, + -0.02612226828932762, + -0.027836206062817673 + ], + [ + 0.02100149728357792, + 0.9991449117660522, + -0.035614632070064545, + -0.03782655163103068 + ], + [ + 0.026881258934736252, + 0.03504529595375061, + 0.9990241527557373, + 0.005843394895076408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967712, + -0.021888047456741333, + -0.025992536917328835, + -0.027722142049146498 + ], + [ + 0.020956572145223618, + 0.9991469383239746, + -0.0355834886431694, + -0.03780104879243105 + ], + [ + 0.02674921788275242, + 0.03501822054386139, + 0.9990286231040955, + 0.006298652819112316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451294, + -0.02183772623538971, + -0.025862807407975197, + -0.027607995565497475 + ], + [ + 0.02091164141893387, + 0.9991490244865417, + -0.03555235639214516, + -0.03777550508007096 + ], + [ + 0.026617182418704033, + 0.034991148859262466, + 0.9990330934524536, + 0.006753981772081528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.021787410601973534, + -0.02573307417333126, + -0.02749370696280292 + ], + [ + 0.02086670882999897, + 0.9991510510444641, + -0.03552122041583061, + -0.03774995391089547 + ], + [ + 0.02648514322936535, + 0.03496405854821205, + 0.9990375638008118, + 0.007209228318589875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.021737094968557358, + -0.025603339076042175, + -0.02737931723094635 + ], + [ + 0.020821768790483475, + 0.9991530776023865, + -0.035490091890096664, + -0.037724373026684736 + ], + [ + 0.026353105902671814, + 0.03493696078658104, + 0.9990419745445251, + 0.0076644944968130655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.02168678492307663, + -0.02547360025346279, + -0.02726482448779888 + ], + [ + 0.02077682688832283, + 0.9991551637649536, + -0.03545896336436272, + -0.0376987623682082 + ], + [ + 0.02622106857597828, + 0.03490985557436943, + 0.9990464448928833, + 0.008119781794918847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.02163648046553135, + -0.025343861430883408, + -0.027150191511631512 + ], + [ + 0.020731879398226738, + 0.999157190322876, + -0.035427846014499664, + -0.037673148120048155 + ], + [ + 0.026089034974575043, + 0.03488274663686752, + 0.9990508556365967, + 0.008574985181640007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636963, + -0.02158617600798607, + -0.025214120745658875, + -0.027035455536642834 + ], + [ + 0.020686928182840347, + 0.9991592168807983, + -0.03539673238992691, + -0.03764750786967357 + ], + [ + 0.025956999510526657, + 0.03485562652349472, + 0.9990552067756653, + 0.009030208308210745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.021535879001021385, + -0.025084376335144043, + -0.02692059791455957 + ], + [ + 0.020641973242163658, + 0.9991612434387207, + -0.03536563366651535, + -0.03762184173866296 + ], + [ + 0.02582496777176857, + 0.03482850641012192, + 0.9990595579147339, + 0.009485400267720814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.021485578268766403, + -0.024954630061984062, + -0.02680563728742021 + ], + [ + 0.020597010850906372, + 0.9991632699966431, + -0.03533452749252319, + -0.03759615695314427 + ], + [ + 0.025692934170365334, + 0.03480137139558792, + 0.9990639090538025, + 0.00994061210828884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.021435288712382317, + -0.02482488378882408, + -0.026690556910122787 + ], + [ + 0.020552048459649086, + 0.9991652965545654, + -0.03530343621969223, + -0.037570442580403644 + ], + [ + 0.025560900568962097, + 0.03477424383163452, + 0.9990682601928711, + 0.010395792548965553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106812, + -0.02138499729335308, + -0.024695131927728653, + -0.026575351129266508 + ], + [ + 0.020507080480456352, + 0.9991673231124878, + -0.035272352397441864, + -0.03754472462889041 + ], + [ + 0.02542886883020401, + 0.03474710136651993, + 0.9990725517272949, + 0.010850940658623218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.021334711462259293, + -0.024565381929278374, + -0.026460044242628697 + ], + [ + 0.02046210691332817, + 0.9991693496704102, + -0.0352412685751915, + -0.03751896948993954 + ], + [ + 0.025296838954091072, + 0.03471995145082474, + 0.9990768432617188, + 0.011306109123329423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.021284429356455803, + -0.024435628205537796, + -0.026344615693309318 + ], + [ + 0.02041713334619999, + 0.9991713762283325, + -0.03521019220352173, + -0.03749319215823417 + ], + [ + 0.025164809077978134, + 0.03469279408454895, + 0.9990811347961426, + 0.011761246312888938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.02123415283858776, + -0.02430587448179722, + -0.026229063662306783 + ], + [ + 0.02037215419113636, + 0.9991733431816101, + -0.035179123282432556, + -0.03746741126957798 + ], + [ + 0.025032782927155495, + 0.03466563671827316, + 0.9990854263305664, + 0.012216351528809828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297974, + -0.02118387445807457, + -0.024176113307476044, + -0.02611341040160616 + ], + [ + 0.020327165722846985, + 0.9991753697395325, + -0.035148054361343384, + -0.037441585755373145 + ], + [ + 0.02490074932575226, + 0.034638457000255585, + 0.9990896582603455, + 0.012671476650971404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595764, + -0.021133603528141975, + -0.024046355858445168, + -0.025997633704424653 + ], + [ + 0.02028217725455761, + 0.9991773962974548, + -0.03511699289083481, + -0.037415756696687084 + ], + [ + 0.02476872317492962, + 0.03461127728223801, + 0.9990938901901245, + 0.013126569574993011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847107, + -0.02108333446085453, + -0.023916592821478844, + -0.02588173716823925 + ], + [ + 0.020237186923623085, + 0.9991793632507324, + -0.03508593887090683, + -0.0373898980258399 + ], + [ + 0.02463669516146183, + 0.03458409756422043, + 0.9990980625152588, + 0.013581630849926321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.021033067256212234, + -0.02378683164715767, + -0.025765737658951075 + ], + [ + 0.020192187279462814, + 0.9991813898086548, + -0.03505489602684975, + -0.03736401725731884 + ], + [ + 0.02450467273592949, + 0.03455691412091255, + 0.9991022944450378, + 0.0140367123799079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303345, + -0.020982807502150536, + -0.023657064884901047, + -0.025649618302865506 + ], + [ + 0.020147187635302544, + 0.9991833567619324, + -0.035023849457502365, + -0.03733812163128015 + ], + [ + 0.0243726447224617, + 0.03452971205115318, + 0.9991064667701721, + 0.014491761745261534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999504029750824, + -0.020932547748088837, + -0.023527298122644424, + -0.0255333717288956 + ], + [ + 0.020102180540561676, + 0.9991853833198547, + -0.03499281778931618, + -0.037312203980826436 + ], + [ + 0.02424062043428421, + 0.034502509981393814, + 0.9991105794906616, + 0.014946778521923713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713135, + -0.020882295444607735, + -0.023397531360387802, + -0.025417025876718586 + ], + [ + 0.02005717344582081, + 0.9991873502731323, + -0.03496179357171059, + -0.03728625675562037 + ], + [ + 0.02410859987139702, + 0.034475307911634445, + 0.9991147518157959, + 0.015401816073338459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.020832043141126633, + -0.023267757147550583, + -0.025300558273014164 + ], + [ + 0.020012158900499344, + 0.9991893768310547, + -0.0349307619035244, + -0.03726029462301831 + ], + [ + 0.023976575583219528, + 0.034448083490133286, + 0.9991188645362854, + 0.01585682142274084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030029, + -0.02078179642558098, + -0.023137984797358513, + -0.025183987690751523 + ], + [ + 0.01996713876724243, + 0.9991913437843323, + -0.034899741411209106, + -0.037234302984246646 + ], + [ + 0.023844553157687187, + 0.034420862793922424, + 0.9991229176521301, + 0.016311845543431933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188477, + -0.020731551572680473, + -0.023008208721876144, + -0.025067276783505742 + ], + [ + 0.01992211677134037, + 0.9991933107376099, + -0.03486872836947441, + -0.03720830414116881 + ], + [ + 0.023712530732154846, + 0.03439362719655037, + 0.9991270303726196, + 0.016766787669085605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.020681310445070267, + -0.022878430783748627, + -0.02495046096959124 + ], + [ + 0.01987709105014801, + 0.9991952776908875, + -0.03483772277832031, + -0.0371822794766855 + ], + [ + 0.023580510169267654, + 0.034366391599178314, + 0.9991310834884644, + 0.017221748603461113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412476, + -0.02063107118010521, + -0.02274865098297596, + -0.024833545834605415 + ], + [ + 0.019832059741020203, + 0.999197244644165, + -0.034806717187166214, + -0.03715622514081051 + ], + [ + 0.023448491469025612, + 0.03433914855122566, + 0.9991351366043091, + 0.01767672919860659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524475, + -0.02058083936572075, + -0.022618873044848442, + -0.024716507230406026 + ], + [ + 0.019787024706602097, + 0.9991992115974426, + -0.03477573022246361, + -0.03713015265232848 + ], + [ + 0.02331647463142872, + 0.03431190177798271, + 0.999139130115509, + 0.018131676814314285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636475, + -0.020530609413981438, + -0.022489085793495178, + -0.024599344948906778 + ], + [ + 0.01974198780953884, + 0.999201238155365, + -0.034744735807180405, + -0.03710406154362976 + ], + [ + 0.023184452205896378, + 0.034284647554159164, + 0.9991431832313538, + 0.018586594391544545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.020480381324887276, + -0.022359302267432213, + -0.024482062954658244 + ], + [ + 0.01969694159924984, + 0.9992032051086426, + -0.0347137525677681, + -0.037077952163862886 + ], + [ + 0.023052437230944633, + 0.03425738215446472, + 0.9991471171379089, + 0.0190414775157699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.02043016068637371, + -0.022229516878724098, + -0.024364677906254593 + ], + [ + 0.019651899114251137, + 0.9992051124572754, + -0.034682776778936386, + -0.037051820728507004 + ], + [ + 0.02292042039334774, + 0.03423011675477028, + 0.9991511106491089, + 0.019496381620532605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786682, + -0.020379941910505295, + -0.022099725902080536, + -0.02424717110008874 + ], + [ + 0.019606847316026688, + 0.999207079410553, + -0.034651800990104675, + -0.03702566709727922 + ], + [ + 0.022788405418395996, + 0.03420283645391464, + 0.9991550445556641, + 0.019951253200126917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805786, + -0.02032972313463688, + -0.021969936788082123, + -0.024129559445705374 + ], + [ + 0.01956179179251194, + 0.9992090463638306, + -0.03462084010243416, + -0.036999480399813614 + ], + [ + 0.0226563923060894, + 0.034175556153059006, + 0.9991589784622192, + 0.020406144144283617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999555766582489, + -0.02027951367199421, + -0.021840142086148262, + -0.024011809261959966 + ], + [ + 0.019516734406352043, + 0.9992110133171082, + -0.03458987548947334, + -0.03697329379275254 + ], + [ + 0.022524377331137657, + 0.034148264676332474, + 0.9991629123687744, + 0.020860952178504494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.02022930048406124, + -0.0217103473842144, + -0.023893976540433313 + ], + [ + 0.01947166956961155, + 0.9992129802703857, + -0.03455892205238342, + -0.036947066611201194 + ], + [ + 0.022392362356185913, + 0.03412096947431564, + 0.9991668462753296, + 0.021315830956917192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.02017909660935402, + -0.02158055081963539, + -0.02377600349859962 + ], + [ + 0.019426602870225906, + 0.9992148876190186, + -0.0345279723405838, + -0.03692083223469587 + ], + [ + 0.022260352969169617, + 0.03409366309642792, + 0.99917072057724, + 0.021770625560388925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.020128892734646797, + -0.02145075425505638, + -0.02365792556568419 + ], + [ + 0.019381528720259666, + 0.9992168545722961, + -0.03449702635407448, + -0.036894564590880564 + ], + [ + 0.02212834358215332, + 0.03406635299324989, + 0.9991745948791504, + 0.022225439780951664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.020078696310520172, + -0.021320953965187073, + -0.0235397203057755 + ], + [ + 0.019336454570293427, + 0.999218761920929, + -0.03446609526872635, + -0.03686829001397268 + ], + [ + 0.021996330469846725, + 0.03403903543949127, + 0.999178409576416, + 0.022680220655791526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.020028501749038696, + -0.021191153675317764, + -0.02342140083844193 + ], + [ + 0.01929137483239174, + 0.9992207288742065, + -0.03443516790866852, + -0.03684199336433012 + ], + [ + 0.021864324808120728, + 0.03401172161102295, + 0.9991822242736816, + 0.023134969587247357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567932, + -0.01997831091284752, + -0.021061349660158157, + -0.02330297638962209 + ], + [ + 0.019246291369199753, + 0.9992226362228394, + -0.034404244273900986, + -0.036815667196048354 + ], + [ + 0.02173231542110443, + 0.033984389156103134, + 0.9991860389709473, + 0.02358973834375757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.01992812380194664, + -0.020931540057063103, + -0.023184454360797566 + ], + [ + 0.019201204180717468, + 0.9992246031761169, + -0.03437332063913345, + -0.03678931142495766 + ], + [ + 0.021600304171442986, + 0.03395704925060272, + 0.9991898536682129, + 0.024044526881666438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.01987793669104576, + -0.020801736041903496, + -0.023065782862103635 + ], + [ + 0.019156109541654587, + 0.9992265105247498, + -0.034342408180236816, + -0.036762952399303724 + ], + [ + 0.021468302235007286, + 0.03392971307039261, + 0.9991936087608337, + 0.024499230057553476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.01982775516808033, + -0.020671922713518143, + -0.02294701182412054 + ], + [ + 0.019111013039946556, + 0.9992284178733826, + -0.03431149944663048, + -0.036736560146865986 + ], + [ + 0.02133629471063614, + 0.033902358263731, + 0.9991973638534546, + 0.024953953416070172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.019777577370405197, + -0.02054211124777794, + -0.02282812102662719 + ], + [ + 0.019065912812948227, + 0.9992303848266602, + -0.03428059071302414, + -0.0367101494799598 + ], + [ + 0.02120428904891014, + 0.0338749960064888, + 0.9992011189460754, + 0.02540864516695022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.019727405160665512, + -0.020412297919392586, + -0.0227091290033325 + ], + [ + 0.01902081072330475, + 0.999232292175293, + -0.03424970060586929, + -0.036683717148698024 + ], + [ + 0.021072285249829292, + 0.033847637474536896, + 0.9992048144340515, + 0.025863354225841715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.019677232950925827, + -0.020282482728362083, + -0.02259000967486633 + ], + [ + 0.018975701183080673, + 0.9992341995239258, + -0.03421881049871445, + -0.0366572626932645 + ], + [ + 0.020940283313393593, + 0.033820271492004395, + 0.9992085099220276, + 0.02631803145259521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.01962706632912159, + -0.020152663812041283, + -0.022470770440372212 + ], + [ + 0.01893058605492115, + 0.9992361068725586, + -0.0341879241168499, + -0.036630793662437836 + ], + [ + 0.020808277651667595, + 0.033792894333601, + 0.9992122054100037, + 0.02677267681810689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.0195769015699625, + -0.020022844895720482, + -0.022351407669640486 + ], + [ + 0.018885469064116478, + 0.9992380142211914, + -0.03415704891085625, + -0.03660431026040759 + ], + [ + 0.020676275715231895, + 0.0337655134499073, + 0.9992159008979797, + 0.027227290060442274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.019526740536093712, + -0.019893022254109383, + -0.022231945475742657 + ], + [ + 0.018840348348021507, + 0.9992399215698242, + -0.034126173704862595, + -0.036577801021384894 + ], + [ + 0.020544273778796196, + 0.033738117665052414, + 0.999219536781311, + 0.027681921450684245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.01947658509016037, + -0.019763201475143433, + -0.02211236165657203 + ], + [ + 0.01879522204399109, + 0.999241828918457, + -0.03409530594944954, + -0.03655125870053738 + ], + [ + 0.020412277430295944, + 0.033710721880197525, + 0.9992231726646423, + 0.028136520522352403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.019426429644227028, + -0.019633373245596886, + -0.021992672717190936 + ], + [ + 0.018750092014670372, + 0.9992437362670898, + -0.034064438194036484, + -0.0365246979995128 + ], + [ + 0.020280277356505394, + 0.03368331864476204, + 0.9992267489433289, + 0.028591138195143192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428345, + -0.01937628537416458, + -0.019503546878695488, + -0.021872864012064792 + ], + [ + 0.018704961985349655, + 0.9992456436157227, + -0.03403358906507492, + -0.036498119448268765 + ], + [ + 0.020148279145359993, + 0.033655911684036255, + 0.9992303848266602, + 0.029045724525958078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.019326139241456985, + -0.019373716786503792, + -0.02175293351956117 + ], + [ + 0.01865982636809349, + 0.9992475509643555, + -0.03400273993611336, + -0.03647152625772494 + ], + [ + 0.020016280934214592, + 0.033628497272729874, + 0.9992339611053467, + 0.029500277486783705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862732, + -0.01927599310874939, + -0.019243888556957245, + -0.021632898162473695 + ], + [ + 0.01861467957496643, + 0.9992493987083435, + -0.03397189453244209, + -0.036444899910538765 + ], + [ + 0.01988428458571434, + 0.0336010716855526, + 0.9992374777793884, + 0.029954848400167107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556702, + -0.01922585628926754, + -0.01911405473947525, + -0.021512740957998832 + ], + [ + 0.01856953464448452, + 0.9992513060569763, + -0.033941056579351425, + -0.036418259148505445 + ], + [ + 0.019752290099859238, + 0.033573638647794724, + 0.999241054058075, + 0.030409388636798058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.01917572133243084, + -0.018984220921993256, + -0.02139246579275221 + ], + [ + 0.01852438785135746, + 0.9992532134056091, + -0.033910226076841354, + -0.03639160398097717 + ], + [ + 0.019620295614004135, + 0.03354620561003685, + 0.9992445707321167, + 0.03086389433100593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.01912558451294899, + -0.018854383379220963, + -0.02127208372881971 + ], + [ + 0.018479228019714355, + 0.9992550611495972, + -0.03387940302491188, + -0.036364915790854636 + ], + [ + 0.019488301128149033, + 0.03351876512169838, + 0.9992480874061584, + 0.0313184203721279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.019075460731983185, + -0.01872454583644867, + -0.02115158183835291 + ], + [ + 0.0184340737760067, + 0.99925696849823, + -0.033848583698272705, + -0.03633820564801723 + ], + [ + 0.01935631036758423, + 0.03349132090806961, + 0.9992515444755554, + 0.03177291182927772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.01902533881366253, + -0.018594708293676376, + -0.021030960121351805 + ], + [ + 0.018388913944363594, + 0.999258816242218, + -0.03381776437163353, + -0.036311488341399814 + ], + [ + 0.019224319607019424, + 0.03346386179327965, + 0.9992550015449524, + 0.03222737148760674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.018975213170051575, + -0.018464861437678337, + -0.020910233182824804 + ], + [ + 0.018343742936849594, + 0.9992607235908508, + -0.03378695249557495, + -0.036284738030892535 + ], + [ + 0.019092323258519173, + 0.03343639522790909, + 0.9992584586143494, + 0.03268185074447954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.018925096839666367, + -0.018335022032260895, + -0.020789384787364484 + ], + [ + 0.018298573791980743, + 0.9992625713348389, + -0.033756155520677567, + -0.036257973592338705 + ], + [ + 0.018960338085889816, + 0.03340892866253853, + 0.9992619156837463, + 0.03313629703837832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.018874982371926308, + -0.018205175176262856, + -0.020668414458008988 + ], + [ + 0.018253399059176445, + 0.9992644190788269, + -0.03372535482048988, + -0.03623118698596954 + ], + [ + 0.01882834918797016, + 0.03338145092129707, + 0.9992653131484985, + 0.033590710112069065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.018824871629476547, + -0.018075326457619667, + -0.020547340996563433 + ], + [ + 0.018208220601081848, + 0.9992663264274597, + -0.033694565296173096, + -0.036204378699657806 + ], + [ + 0.018696362152695656, + 0.03335396945476532, + 0.9992687106132507, + 0.03404514186131031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.018774762749671936, + -0.01794547773897648, + -0.020426147699231383 + ], + [ + 0.018163036555051804, + 0.9992681741714478, + -0.033663779497146606, + -0.03617754477274966 + ], + [ + 0.01856437511742115, + 0.03332647681236267, + 0.9992721080780029, + 0.034499541761852395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.018724659457802773, + -0.017815623432397842, + -0.020304830651340623 + ], + [ + 0.01811785064637661, + 0.9992700219154358, + -0.033633001148700714, + -0.03615069651204672 + ], + [ + 0.018432386219501495, + 0.03329898416996002, + 0.9992754459381104, + 0.03495390662946836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.018674559891223907, + -0.017685772851109505, + -0.020183408791861774 + ], + [ + 0.018072661012411118, + 0.9992718696594238, + -0.03360222652554512, + -0.03612382262321696 + ], + [ + 0.01830040104687214, + 0.03327148035168648, + 0.9992787837982178, + 0.035408291170494356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.01862446404993534, + -0.01755591668188572, + -0.020061870626170018 + ], + [ + 0.01802746392786503, + 0.9992737174034119, + -0.033571455627679825, + -0.036096934286807374 + ], + [ + 0.018168417736887932, + 0.033243972808122635, + 0.9992821216583252, + 0.03586264427860411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231323, + -0.018574370071291924, + -0.017426056787371635, + -0.019940206899490814 + ], + [ + 0.01798226498067379, + 0.9992755651473999, + -0.033540695905685425, + -0.036070020593484575 + ], + [ + 0.018036430701613426, + 0.0332164540886879, + 0.9992853999137878, + 0.036316961647015235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.018524279817938805, + -0.01729620061814785, + -0.01981844208651382 + ], + [ + 0.017937062308192253, + 0.9992774128913879, + -0.03350994363427162, + -0.03604308887536805 + ], + [ + 0.017904451116919518, + 0.03318893536925316, + 0.9992887377738953, + 0.03677130087520382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.018474197015166283, + -0.017166344448924065, + -0.019696559294060684 + ], + [ + 0.017891855910420418, + 0.999279260635376, + -0.03347919136285782, + -0.03601612769784289 + ], + [ + 0.01777247153222561, + 0.033161409199237823, + 0.9992919564247131, + 0.03722560310036833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.01842411234974861, + -0.017036478966474533, + -0.019574545144598353 + ], + [ + 0.017846643924713135, + 0.999281108379364, + -0.03344844654202461, + -0.035989159683864486 + ], + [ + 0.01764049008488655, + 0.033133868128061295, + 0.9992952346801758, + 0.03767987572973804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.01837403140962124, + -0.016906613484025, + -0.01945243349696303 + ], + [ + 0.017801424488425255, + 0.9992828965187073, + -0.033417705446481705, + -0.03596215862858744 + ], + [ + 0.017508508637547493, + 0.03310632333159447, + 0.9992984533309937, + 0.03813416520591482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.018323954194784164, + -0.01677674800157547, + -0.01933020199941292 + ], + [ + 0.017756205052137375, + 0.9992847442626953, + -0.03338697552680969, + -0.03593514344058775 + ], + [ + 0.017376530915498734, + 0.03307878226041794, + 0.9993016719818115, + 0.03858842175243477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.018273886293172836, + -0.01664688065648079, + -0.019207844993871126 + ], + [ + 0.017710983753204346, + 0.9992865920066833, + -0.03335624933242798, + -0.0359081064027473 + ], + [ + 0.017244551330804825, + 0.03305122256278992, + 0.9993048906326294, + 0.03904264699911239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.018223818391561508, + -0.01651701144874096, + -0.01908538669238654 + ], + [ + 0.01766575500369072, + 0.9992884397506714, + -0.03332552686333656, + -0.035881040069161596 + ], + [ + 0.017112577334046364, + 0.0330236591398716, + 0.9993080496788025, + 0.03949688850223987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.01817375235259533, + -0.01638714037835598, + -0.018962802878234177 + ], + [ + 0.017620524391531944, + 0.9992902278900146, + -0.03329481557011604, + -0.03585396335775882 + ], + [ + 0.016980601474642754, + 0.03299609199166298, + 0.9993112087249756, + 0.039951097142247476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.999703586101532, + -0.01812369003891945, + -0.016257265582680702, + -0.018840121416273725 + ], + [ + 0.017575286328792572, + 0.9992920756340027, + -0.033264096826314926, + -0.0358268532060305 + ], + [ + 0.016848625615239143, + 0.03296850994229317, + 0.9993143677711487, + 0.04040532553886067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.018073633313179016, + -0.016127392649650574, + -0.01871729781812205 + ], + [ + 0.01753004640340805, + 0.999293863773346, + -0.0332333967089653, + -0.03579974788315127 + ], + [ + 0.016716651618480682, + 0.032940931618213654, + 0.999317467212677, + 0.04085946703966801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660095, + -0.018023576587438583, + -0.01599751226603985, + -0.01859439318321614 + ], + [ + 0.017484799027442932, + 0.999295711517334, + -0.033202700316905975, + -0.03577258721555127 + ], + [ + 0.01658467762172222, + 0.032913342118263245, + 0.9993206262588501, + 0.04131368230482774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.017973529174923897, + -0.015867633745074272, + -0.01847134454635646 + ], + [ + 0.017439553514122963, + 0.9992974996566772, + -0.03317200765013695, + -0.03574543081255139 + ], + [ + 0.01645270548760891, + 0.03288574889302254, + 0.9993236660957336, + 0.04176780764806517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.01792348176240921, + -0.015737753361463547, + -0.018348194599525698 + ], + [ + 0.017394300550222397, + 0.9992992877960205, + -0.03314131498336792, + -0.03571824500002123 + ], + [ + 0.016320735216140747, + 0.032858140766620636, + 0.999326765537262, + 0.04222195530008275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.017873438075184822, + -0.015607871115207672, + -0.018224919125998867 + ], + [ + 0.017349043861031532, + 0.9993010759353638, + -0.033110640943050385, + -0.03569103426701354 + ], + [ + 0.016188763082027435, + 0.03283053636550903, + 0.9993298053741455, + 0.04267606747864695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.01782339997589588, + -0.015477987937629223, + -0.018101527475241463 + ], + [ + 0.01730378530919552, + 0.9993029236793518, + -0.03307996690273285, + -0.03566382021709466 + ], + [ + 0.01605679653584957, + 0.032802924513816833, + 0.999332845211029, + 0.043130146927165186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.01777336187660694, + -0.01534810196608305, + -0.017978027018730112 + ], + [ + 0.017258519306778908, + 0.9993047118186951, + -0.03304930403828621, + -0.03563656979026156 + ], + [ + 0.015924828127026558, + 0.03277530148625374, + 0.9993358850479126, + 0.043584245799701646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.0177233275026083, + -0.015218214131891727, + -0.01785441220437944 + ], + [ + 0.017213249579072, + 0.9993064999580383, + -0.03301863744854927, + -0.03560930472256998 + ], + [ + 0.015792859718203545, + 0.032747674733400345, + 0.9993388652801514, + 0.044038309888996055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591675, + -0.017673300579190254, + -0.015088326297700405, + -0.017730690559925644 + ], + [ + 0.01716797985136509, + 0.9993082880973816, + -0.032987985759973526, + -0.03558201090311904 + ], + [ + 0.01566089689731598, + 0.032720040529966354, + 0.9993418455123901, + 0.04449239242110775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.01762327365577221, + -0.014958432875573635, + -0.01760684694338855 + ], + [ + 0.017122698947787285, + 0.9993100762367249, + -0.03295733034610748, + -0.03555469499846382 + ], + [ + 0.01552892941981554, + 0.03269239515066147, + 0.9993448257446289, + 0.044946442289710446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.017573250457644463, + -0.01482854038476944, + -0.017482881631437207 + ], + [ + 0.01707741804420948, + 0.9993118643760681, + -0.032926686108112335, + -0.03552736882821785 + ], + [ + 0.0153969656676054, + 0.032664746046066284, + 0.9993477463722229, + 0.04540045701754455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.017523229122161865, + -0.014698644168674946, + -0.017358794420661412 + ], + [ + 0.017032131552696228, + 0.9993136525154114, + -0.03289603814482689, + -0.03550002430117529 + ], + [ + 0.01526500005275011, + 0.032637085765600204, + 0.9993506669998169, + 0.045854438799160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.017473215237259865, + -0.014568750746548176, + -0.017234604221975206 + ], + [ + 0.016986841335892677, + 0.9993154406547546, + -0.03286540508270264, + -0.035472647337609256 + ], + [ + 0.015133040957152843, + 0.032609425485134125, + 0.9993535876274109, + 0.04630844048711483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.017423205077648163, + -0.014438850805163383, + -0.017110291995482214 + ], + [ + 0.016941551119089127, + 0.9993171691894531, + -0.03283478319644928, + -0.03544526014118514 + ], + [ + 0.015001079067587852, + 0.03258176147937775, + 0.9993565082550049, + 0.046762408181113116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.01737319864332676, + -0.014308947138488293, + -0.016985880210995674 + ], + [ + 0.01689625345170498, + 0.9993189573287964, + -0.03280416503548622, + -0.03541784003751049 + ], + [ + 0.014869115315377712, + 0.03255408629775047, + 0.9993593692779541, + 0.04721639285518721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733643, + -0.017323190346360207, + -0.0141790471971035, + -0.0168613412639586 + ], + [ + 0.016850950196385384, + 0.9993207454681396, + -0.03277355059981346, + -0.035390405657712884 + ], + [ + 0.014737159013748169, + 0.0325264073908329, + 0.9993622303009033, + 0.047670344533164946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.01727319322526455, + -0.014049142599105835, + -0.016736685949140014 + ], + [ + 0.01680564694106579, + 0.9993225336074829, + -0.0327429436147213, + -0.03536294972734471 + ], + [ + 0.014605199918150902, + 0.03249872103333473, + 0.9993650317192078, + 0.04812426093739758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.017223196104168892, + -0.01391923800110817, + -0.01661192379019001 + ], + [ + 0.016760336235165596, + 0.9993242621421814, + -0.03271232917904854, + -0.03533547156369586 + ], + [ + 0.014473242685198784, + 0.03247101977467537, + 0.999367892742157, + 0.048578198985138196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957642, + -0.017173198983073235, + -0.01378933060914278, + -0.01648704161766184 + ], + [ + 0.016715021803975105, + 0.9993260502815247, + -0.03268173336982727, + -0.03530797237943406 + ], + [ + 0.01434128638356924, + 0.03244331479072571, + 0.9993706941604614, + 0.049032101476424714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.017123209312558174, + -0.013659421354532242, + -0.01636203947208167 + ], + [ + 0.016669703647494316, + 0.9993277788162231, + -0.0326511412858963, + -0.03528045894398849 + ], + [ + 0.014209331944584846, + 0.03241560608148575, + 0.9993734359741211, + 0.0494859683364396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.01707322709262371, + -0.013529511168599129, + -0.016236913670244078 + ], + [ + 0.016624385491013527, + 0.9993295669555664, + -0.03262055665254593, + -0.035252927714436624 + ], + [ + 0.014077378436923027, + 0.03238789737224579, + 0.9993762373924255, + 0.04993980471083746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.0170232392847538, + -0.013399599120020866, + -0.016111684655264084 + ], + [ + 0.016579054296016693, + 0.9993312954902649, + -0.03258997201919556, + -0.035225374616339615 + ], + [ + 0.013945424929261208, + 0.032360173761844635, + 0.9993789792060852, + 0.050393657790980144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.016973262652754784, + -0.013269683346152306, + -0.015986354197044254 + ], + [ + 0.016533726826310158, + 0.9993330240249634, + -0.03255940228700638, + -0.03519778547177255 + ], + [ + 0.013813471421599388, + 0.03233245015144348, + 0.9993817210197449, + 0.05084752946367261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.01692328415811062, + -0.013139765709638596, + -0.015860882335221666 + ], + [ + 0.016488390043377876, + 0.9993348121643066, + -0.0325288325548172, + -0.035170193097581424 + ], + [ + 0.013681519776582718, + 0.032304711639881134, + 0.9993844032287598, + 0.05130131343422481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080505, + -0.0168733112514019, + -0.013009847141802311, + -0.015735305435020306 + ], + [ + 0.016443051397800446, + 0.9993365406990051, + -0.03249826654791832, + -0.035142571600660616 + ], + [ + 0.013549569062888622, + 0.03227696940302849, + 0.9993871450424194, + 0.05175511865744126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077759, + -0.01682334393262863, + -0.012879930436611176, + -0.01560960873322382 + ], + [ + 0.016397710889577866, + 0.9993382692337036, + -0.032467711716890335, + -0.035114932532527454 + ], + [ + 0.013417622074484825, + 0.032249223440885544, + 0.9993897676467896, + 0.05220888601343253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.01677337847650051, + -0.012750009074807167, + -0.015483810531294995 + ], + [ + 0.016352364793419838, + 0.9993399977684021, + -0.03243716061115265, + -0.0350872680825419 + ], + [ + 0.013285674154758453, + 0.032221466302871704, + 0.9993924498558044, + 0.05266267462208805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.01672341860830784, + -0.01262008585035801, + -0.01535788954442141 + ], + [ + 0.01630701683461666, + 0.9993417263031006, + -0.03240661695599556, + -0.03505958216927291 + ], + [ + 0.01315372809767723, + 0.032193709164857864, + 0.9993950724601746, + 0.053116426834540445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.016673460602760315, + -0.012490159831941128, + -0.015231845722724704 + ], + [ + 0.016261659562587738, + 0.9993434548377991, + -0.03237607330083847, + -0.03503188559762105 + ], + [ + 0.013021781109273434, + 0.03216593712568283, + 0.9993976950645447, + 0.05357014701553625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.01662350445985794, + -0.012360233813524246, + -0.015105701558229564 + ], + [ + 0.016216300427913666, + 0.9993451833724976, + -0.032345544546842575, + -0.035004156782724366 + ], + [ + 0.012889835983514786, + 0.0321381650865078, + 0.9994003176689148, + 0.054023885456494454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.016573552042245865, + -0.012230303138494492, + -0.014979436320241027 + ], + [ + 0.016170937567949295, + 0.999346911907196, + -0.03231501206755638, + -0.034976409678055154 + ], + [ + 0.012757889926433563, + 0.03211038187146187, + 0.9994028806686401, + 0.054477587842214924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.016523605212569237, + -0.01210037525743246, + -0.014853046667298388 + ], + [ + 0.016125569120049477, + 0.9993486404418945, + -0.03228449076414108, + -0.034948652508867334 + ], + [ + 0.012625950388610363, + 0.03208259493112564, + 0.9994054436683655, + 0.054931257215277855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.016473662108182907, + -0.011970441788434982, + -0.014726553581436808 + ], + [ + 0.016080200672149658, + 0.999350368976593, + -0.03225398063659668, + -0.034920862937447415 + ], + [ + 0.012494007125496864, + 0.032054804265499115, + 0.9994080066680908, + 0.05538494479842484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266174, + -0.016423722729086876, + -0.011840508319437504, + -0.014599938726122783 + ], + [ + 0.016034824773669243, + 0.9993520379066467, + -0.03222346678376198, + -0.03489305136187555 + ], + [ + 0.012362065725028515, + 0.032027002424001694, + 0.9994105696678162, + 0.05583860006740621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.016373785212635994, + -0.011710572987794876, + -0.014473202932922162 + ], + [ + 0.01598944701254368, + 0.9993537664413452, + -0.032192956656217575, + -0.03486523307766376 + ], + [ + 0.012230126187205315, + 0.03199918940663338, + 0.9994130730628967, + 0.05629221913151474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.01632385142147541, + -0.011580638587474823, + -0.014346367770720226 + ], + [ + 0.015944061800837517, + 0.9993554949760437, + -0.032162461429834366, + -0.03483738261567249 + ], + [ + 0.012098189443349838, + 0.03197137638926506, + 0.9994155764579773, + 0.056745856122998324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.016273923218250275, + -0.011450696736574173, + -0.014219407639057068 + ], + [ + 0.015898674726486206, + 0.9993571639060974, + -0.032131969928741455, + -0.03480952173845538 + ], + [ + 0.011966248974204063, + 0.031943559646606445, + 0.9994180202484131, + 0.05719945657702171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.01622399501502514, + -0.011320755816996098, + -0.014092325781974708 + ], + [ + 0.015853283926844597, + 0.9993588924407959, + -0.03210148215293884, + -0.034781628098946735 + ], + [ + 0.011834311299026012, + 0.031915731728076935, + 0.9994205236434937, + 0.05765302834981686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.01617407612502575, + -0.011190813966095448, + -0.013965140724219538 + ], + [ + 0.01580789126455784, + 0.9993605613708496, + -0.03207100182771683, + -0.034753716808732085 + ], + [ + 0.011702376417815685, + 0.03188789635896683, + 0.9994229674339294, + 0.0581066149908457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.01612415537238121, + -0.011060870252549648, + -0.013837834717666878 + ], + [ + 0.015762489289045334, + 0.9993622899055481, + -0.03204053267836571, + -0.034725795535051174 + ], + [ + 0.011570443399250507, + 0.03186005726456642, + 0.9994253516197205, + 0.05856016520254906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.01607424020767212, + -0.0109309246763587, + -0.013710406828656107 + ], + [ + 0.01571708545088768, + 0.9993639588356018, + -0.03201005607843399, + -0.03469784834644286 + ], + [ + 0.01143851038068533, + 0.03183220326900482, + 0.9994277954101562, + 0.05901368536097952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.016024328768253326, + -0.010800977237522602, + -0.013582877543945816 + ], + [ + 0.015671677887439728, + 0.9993656277656555, + -0.03197959437966347, + -0.034669872770810725 + ], + [ + 0.011306577362120152, + 0.03180435672402382, + 0.9994301795959473, + 0.05946722072860904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.01597442291676998, + -0.010671027936041355, + -0.013455223578133594 + ], + [ + 0.015626268461346626, + 0.999367356300354, + -0.03194914013147354, + -0.034641883304054266 + ], + [ + 0.011174646206200123, + 0.03177649527788162, + 0.9994325041770935, + 0.059920719775047815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.015924515202641487, + -0.010541076771914959, + -0.01332746914326833 + ], + [ + 0.015580850653350353, + 0.9993690252304077, + -0.03191868215799332, + -0.03461386068844895 + ], + [ + 0.011042715050280094, + 0.03174862265586853, + 0.9994348883628845, + 0.06037424048155578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.01587461680173874, + -0.010411124676465988, + -0.01319957238127123 + ], + [ + 0.015535433776676655, + 0.9993706941604614, + -0.031888239085674286, + -0.03458584324772388 + ], + [ + 0.01091078668832779, + 0.03172075003385544, + 0.9994372129440308, + 0.0608276724300998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.01582472026348114, + -0.010281172581017017, + -0.013071575254653911 + ], + [ + 0.015490010380744934, + 0.9993723630905151, + -0.03185780346393585, + -0.03455778958907187 + ], + [ + 0.010778860189020634, + 0.031692877411842346, + 0.999439537525177, + 0.061281123087706356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.01577482372522354, + -0.010151215828955173, + -0.012943473765353777 + ], + [ + 0.015444581396877766, + 0.9993740320205688, + -0.03182736784219742, + -0.03452970673599004 + ], + [ + 0.010646932758390903, + 0.03166498988866806, + 0.9994418025016785, + 0.06173458966138192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.01572493650019169, + -0.010021258145570755, + -0.012815252294818478 + ], + [ + 0.015399151481688023, + 0.9993757009506226, + -0.03179694339632988, + -0.034501613974259486 + ], + [ + 0.010515006259083748, + 0.031637098640203476, + 0.9994441270828247, + 0.06218802532527953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137573, + -0.015675049275159836, + -0.009891296736896038, + -0.01268690508794211 + ], + [ + 0.015353715047240257, + 0.9993773698806763, + -0.03176651895046234, + -0.0344734994780319 + ], + [ + 0.010383079759776592, + 0.0316091924905777, + 0.9994463920593262, + 0.06264142493413427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716797, + -0.015625163912773132, + -0.00976133719086647, + -0.012558439924970083 + ], + [ + 0.015308273024857044, + 0.99937903881073, + -0.0317361019551754, + -0.034445374868966046 + ], + [ + 0.010251156985759735, + 0.03158128634095192, + 0.9994485974311829, + 0.06309478655048338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9998323321342468, + -0.015575285069644451, + -0.009631376713514328, + -0.01242986967841701 + ], + [ + 0.015262830071151257, + 0.9993807077407837, + -0.031705692410469055, + -0.03441722152996263 + ], + [ + 0.010119237005710602, + 0.031553372740745544, + 0.9994508624076843, + 0.06354817083304179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875244, + -0.015525411814451218, + -0.009501411579549313, + -0.01230118108258649 + ], + [ + 0.015217384323477745, + 0.9993823766708374, + -0.031675294041633606, + -0.03438904342167547 + ], + [ + 0.009987314231693745, + 0.03152546286582947, + 0.999453067779541, + 0.0640015184702001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.01547553762793541, + -0.009371441788971424, + -0.012172369475020525 + ], + [ + 0.015171930193901062, + 0.9993840456008911, + -0.03164489194750786, + -0.03436085454901392 + ], + [ + 0.009855390526354313, + 0.0314975269138813, + 0.9994552135467529, + 0.06445482845581818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.015425669960677624, + -0.00924147479236126, + -0.012043450209292657 + ], + [ + 0.015126475133001804, + 0.9993856549263, + -0.03161449730396271, + -0.034332640693526886 + ], + [ + 0.009723471477627754, + 0.031469590961933136, + 0.9994574189186096, + 0.06490816159824603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.015375804156064987, + -0.00911150686442852, + -0.01191441747028708 + ], + [ + 0.015081014484167099, + 0.9993873238563538, + -0.031584110110998154, + -0.03430440186456656 + ], + [ + 0.00959155522286892, + 0.03144165500998497, + 0.9994595646858215, + 0.06536145703925529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.015325943008065224, + -0.008981536142528057, + -0.011785274866002 + ], + [ + 0.01503554917871952, + 0.9993889331817627, + -0.0315537266433239, + -0.03427614156452931 + ], + [ + 0.00945963803678751, + 0.03141370788216591, + 0.9994617104530334, + 0.06581477034120005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.015276085585355759, + -0.008851563557982445, + -0.011656015932123532 + ], + [ + 0.014990082010626793, + 0.9993906021118164, + -0.03152335062623024, + -0.034247856306605755 + ], + [ + 0.00932772271335125, + 0.03138575330376625, + 0.9994637966156006, + 0.06626804700612274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025452, + -0.015226231887936592, + -0.008721589110791683, + -0.011526630421765304 + ], + [ + 0.014944609254598618, + 0.9993922114372253, + -0.03149298578500748, + -0.03421956496196312 + ], + [ + 0.00919580738991499, + 0.031357795000076294, + 0.9994659423828125, + 0.06672129355951613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.015176380053162575, + -0.008591610938310623, + -0.011397123802063605 + ], + [ + 0.014899132773280144, + 0.999393880367279, + -0.03146261349320412, + -0.034191258909437944 + ], + [ + 0.00906389206647873, + 0.03132982179522514, + 0.9994680285453796, + 0.06717450389167036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.01512653473764658, + -0.008461636491119862, + -0.011267516103078256 + ], + [ + 0.014853653497993946, + 0.999395489692688, + -0.03143225982785225, + -0.034162917457302745 + ], + [ + 0.008931982330977917, + 0.03130185231566429, + 0.999470055103302, + 0.06762772775352563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.015076691284775734, + -0.008331656455993652, + -0.011137788102934799 + ], + [ + 0.0148081686347723, + 0.9993971586227417, + -0.03140191361308098, + -0.03413455480998031 + ], + [ + 0.008800070732831955, + 0.03127387538552284, + 0.9994721412658691, + 0.06808092246011335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.015026850625872612, + -0.008201674558222294, + -0.011007952143410884 + ], + [ + 0.014762679114937782, + 0.9993987679481506, + -0.03137156739830971, + -0.03410617421891649 + ], + [ + 0.008668159134685993, + 0.031245891004800797, + 0.9994741678237915, + 0.06853413157784634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.014977015554904938, + -0.00807169172912836, + -0.010878001763699694 + ], + [ + 0.014717187732458115, + 0.9994003772735596, + -0.031341228634119034, + -0.03407777244513504 + ], + [ + 0.008536250330507755, + 0.031217899173498154, + 0.9994761347770691, + 0.06898730264501217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.014927184209227562, + -0.007941707037389278, + -0.010747924794259804 + ], + [ + 0.014671692624688148, + 0.9994019865989685, + -0.03131089732050896, + -0.034049353223278435 + ], + [ + 0.008404341526329517, + 0.031189901754260063, + 0.9994781613349915, + 0.06944044388335775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.014877352863550186, + -0.007811722811311483, + -0.010617746532384197 + ], + [ + 0.014626190066337585, + 0.9994035959243774, + -0.03128056228160858, + -0.034020912098585314 + ], + [ + 0.008272436447441578, + 0.031161891296505928, + 0.999480128288269, + 0.06989360057230587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.014827528968453407, + -0.007681735325604677, + -0.01048742761527613 + ], + [ + 0.014580687507987022, + 0.9994052648544312, + -0.0312502421438694, + -0.033992465206706374 + ], + [ + 0.008140530437231064, + 0.031133878976106644, + 0.9994820952415466, + 0.07034667136291797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.014777708798646927, + -0.007551745045930147, + -0.010357023018049895 + ], + [ + 0.014535179361701012, + 0.9994068741798401, + -0.031219925731420517, + -0.03396397456526756 + ], + [ + 0.00800862442702055, + 0.03110586106777191, + 0.9994840025901794, + 0.07079980849428687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.014727888628840446, + -0.0074217552319169044, + -0.010226480802715947 + ], + [ + 0.014489665627479553, + 0.999408483505249, + -0.03118961676955223, + -0.033935481408088775 + ], + [ + 0.007876722142100334, + 0.031077835708856583, + 0.9994859099388123, + 0.07125285897894945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.014678074046969414, + -0.007291760295629501, + -0.01009583225606251 + ], + [ + 0.014444148167967796, + 0.9994100332260132, + -0.031159311532974243, + -0.0339069556896906 + ], + [ + 0.007744817063212395, + 0.031049802899360657, + 0.9994878172874451, + 0.07170592945334055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.014628264121711254, + -0.007161768618971109, + -0.009965066767441865 + ], + [ + 0.014398629777133465, + 0.9994116425514221, + -0.031129013746976852, + -0.033878420020558846 + ], + [ + 0.00761291803792119, + 0.031021766364574432, + 0.9994897246360779, + 0.07215896473659755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.014578456990420818, + -0.007031770423054695, + -0.009834192983151479 + ], + [ + 0.014353104867041111, + 0.999413251876831, + -0.03109871968626976, + -0.03384985552796759 + ], + [ + 0.007481016218662262, + 0.030993718653917313, + 0.9994915723800659, + 0.07261201475540402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.014528652653098106, + -0.006901774555444717, + -0.009703202192597559 + ], + [ + 0.014307575300335884, + 0.99941486120224, + -0.031068434938788414, + -0.0338212663276612 + ], + [ + 0.007349118590354919, + 0.030965669080615044, + 0.999493420124054, + 0.07306503046452063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.014478851109743118, + -0.006771773565560579, + -0.00957209015592434 + ], + [ + 0.014262041077017784, + 0.9994164705276489, + -0.031038155779242516, + -0.0337926745243277 + ], + [ + 0.00721721863374114, + 0.03093761019408703, + 0.999495267868042, + 0.0735180123296087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.014429057016968727, + -0.00664177443832159, + -0.00944087132460839 + ], + [ + 0.014216506853699684, + 0.9994180202484131, + -0.031007878482341766, + -0.03376404633706584 + ], + [ + 0.007085323333740234, + 0.030909541994333267, + 0.9994970560073853, + 0.07397100973687287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.014379264786839485, + -0.00651177391409874, + -0.009309532433342984 + ], + [ + 0.014170965179800987, + 0.999419629573822, + -0.030977610498666763, + -0.03373540091838797 + ], + [ + 0.00695342943072319, + 0.030881471931934357, + 0.9994988441467285, + 0.07442397278456882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.014329474419355392, + -0.006381768733263016, + -0.009178069524591687 + ], + [ + 0.014125419780611992, + 0.9994211792945862, + -0.03094734437763691, + -0.033706741478434415 + ], + [ + 0.006821533665060997, + 0.0308533925563097, + 0.9995006322860718, + 0.07487690193835786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.014279690571129322, + -0.006251762621104717, + -0.009046508003197704 + ], + [ + 0.014079871587455273, + 0.9994227886199951, + -0.03091708943247795, + -0.03367805378082906 + ], + [ + 0.0066896406933665276, + 0.030825309455394745, + 0.999502420425415, + 0.0753298479553203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.014229905791580677, + -0.006121753714978695, + -0.008914820726368592 + ], + [ + 0.014034316875040531, + 0.9994243383407593, + -0.030886836349964142, + -0.03364934834912731 + ], + [ + 0.0065577467903494835, + 0.030797217041254044, + 0.9995041489601135, + 0.07578275767642084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661865, + -0.014180131256580353, + -0.0059917462058365345, + -0.008783014511463532 + ], + [ + 0.013988763093948364, + 0.9994259476661682, + -0.03085659258067608, + -0.033620629447149934 + ], + [ + 0.006425857078284025, + 0.030769119039177895, + 0.999505877494812, + 0.07623563298807484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.014130355790257454, + -0.005861735437065363, + -0.008651105786973774 + ], + [ + 0.013943200930953026, + 0.9994274973869324, + -0.030826354399323463, + -0.03359188564106136 + ], + [ + 0.00629396690055728, + 0.030741015449166298, + 0.9995075464248657, + 0.07668852126420667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.014080582186579704, + -0.005731724202632904, + -0.008519074263121294 + ], + [ + 0.013897635042667389, + 0.9994290471076965, + -0.030796119943261147, + -0.03356312052755924 + ], + [ + 0.0061620790511369705, + 0.030712904408574104, + 0.9995092749595642, + 0.07714138081741506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.014030814170837402, + -0.005601710639894009, + -0.008386920734258002 + ], + [ + 0.013852065429091454, + 0.9994306564331055, + -0.030765891075134277, + -0.03353433424770583 + ], + [ + 0.006030191667377949, + 0.030684784054756165, + 0.9995109438896179, + 0.07759420206248137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.013981052674353123, + -0.005471696611493826, + -0.008254666755046056 + ], + [ + 0.013806494884192944, + 0.9994322061538696, + -0.030735671520233154, + -0.0335055326707817 + ], + [ + 0.0058983066119253635, + 0.030656661838293076, + 0.9995125532150269, + 0.07804703707865217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.013931291177868843, + -0.005341679789125919, + -0.008122288869405516 + ], + [ + 0.013760915026068687, + 0.9994337558746338, + -0.03070545196533203, + -0.03347670580552711 + ], + [ + 0.005766421556472778, + 0.03062852844595909, + 0.9995142221450806, + 0.07849984199985487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.013881535269320011, + -0.005211659707129002, + -0.007989789833115983 + ], + [ + 0.013715335167944431, + 0.999435305595398, + -0.030675241723656654, + -0.03344786738407911 + ], + [ + 0.005634536035358906, + 0.03060038946568966, + 0.9995158314704895, + 0.07895260941954213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372192, + -0.013831784017384052, + -0.005081639159470797, + -0.007857186615147537 + ], + [ + 0.013669752515852451, + 0.9994368553161621, + -0.030645040795207024, + -0.03341899879167644 + ], + [ + 0.00550265284255147, + 0.030572248622775078, + 0.9995174407958984, + 0.07940539494975155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440491, + -0.013782033696770668, + -0.004951618146151304, + -0.007724462916770615 + ], + [ + 0.0136241614818573, + 0.9994384050369263, + -0.030614839866757393, + -0.033390112377110884 + ], + [ + 0.00537077197805047, + 0.0305440966039896, + 0.9995189905166626, + 0.0798581419473662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.013732288032770157, + -0.004821593873202801, + -0.007591619457129903 + ], + [ + 0.013578569516539574, + 0.9994399547576904, + -0.03058464825153351, + -0.033361212570984 + ], + [ + 0.005238890647888184, + 0.030515938997268677, + 0.9995205402374268, + 0.08031085345457663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.013682547025382519, + -0.004691570997238159, + -0.007458673350544155 + ], + [ + 0.013532972894608974, + 0.9994415044784546, + -0.03055446222424507, + -0.03333228978807707 + ], + [ + 0.005107013508677483, + 0.030487775802612305, + 0.9995220899581909, + 0.08076358348809214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.01363280788064003, + -0.004561544395983219, + -0.0073256023204788 + ], + [ + 0.013487370684742928, + 0.9994430541992188, + -0.03052428364753723, + -0.03330334231538004 + ], + [ + 0.004975135438144207, + 0.030459605157375336, + 0.9995236396789551, + 0.08121628035950984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972434998, + -0.013583073392510414, + -0.0044315168634057045, + -0.007192414027938783 + ], + [ + 0.013441765680909157, + 0.9994445443153381, + -0.03049410879611969, + -0.03327438105131542 + ], + [ + 0.004843259230256081, + 0.03043142706155777, + 0.9995251297950745, + 0.08166893808303642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.013533340767025948, + -0.004301486071199179, + -0.007059117604756268 + ], + [ + 0.013396155089139938, + 0.9994460940361023, + -0.030463935807347298, + -0.03324539468050876 + ], + [ + 0.004711382556706667, + 0.030403239652514458, + 0.9995266199111938, + 0.08212161428298974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385803, + -0.013483613729476929, + -0.00417145574465394, + -0.006925699832580329 + ], + [ + 0.01335054263472557, + 0.9994476437568665, + -0.0304337739944458, + -0.03321638951802852 + ], + [ + 0.004579509142786264, + 0.030375052243471146, + 0.9995281100273132, + 0.08257425633964428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.013433892279863358, + -0.00404142402112484, + -0.006792162428902283 + ], + [ + 0.013304928317666054, + 0.9994491338729858, + -0.03040361776947975, + -0.03318736700333312 + ], + [ + 0.004447637125849724, + 0.030346855521202087, + 0.9995295405387878, + 0.0830268595893731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.013384170830249786, + -0.003911389037966728, + -0.006658525268886254 + ], + [ + 0.01325930468738079, + 0.99945068359375, + -0.030373465269804, + -0.03315832140898355 + ], + [ + 0.004315763711929321, + 0.030318651348352432, + 0.9995309710502625, + 0.08347948126565026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.013334454037249088, + -0.0037813540548086166, + -0.006524761132194532 + ], + [ + 0.013213680125772953, + 0.9994521737098694, + -0.030343323945999146, + -0.033129255191489244 + ], + [ + 0.004183894023299217, + 0.03029044345021248, + 0.9995324015617371, + 0.08393206735176645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.013284740969538689, + -0.0036513160448521376, + -0.006390896320896356 + ], + [ + 0.013168049976229668, + 0.9994537234306335, + -0.03031318448483944, + -0.03310016389920622 + ], + [ + 0.004052024334669113, + 0.03026222623884678, + 0.9995337724685669, + 0.08438466712598645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.013235030695796013, + -0.0035212745424360037, + -0.006256890747107753 + ], + [ + 0.013122417032718658, + 0.9994552135467529, + -0.03028305247426033, + -0.03307106474484609 + ], + [ + 0.003920153249055147, + 0.03023400530219078, + 0.9995351433753967, + 0.0848371809687481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.013185326009988785, + -0.0033912372309714556, + -0.00612280276568926 + ], + [ + 0.01307678036391735, + 0.9994567036628723, + -0.03025292418897152, + -0.03304193136145879 + ], + [ + 0.0037882893811911345, + 0.030205773189663887, + 0.9995365142822266, + 0.08528976441092134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.01313562411814928, + -0.003261196194216609, + -0.005988571672334051 + ], + [ + 0.01303113903850317, + 0.9994582533836365, + -0.030222803354263306, + -0.033012793856871676 + ], + [ + 0.0036564248148351908, + 0.030177537351846695, + 0.9995378851890564, + 0.08574226238729753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445862, + -0.01308592688292265, + -0.0031311502680182457, + -0.005854241140030917 + ], + [ + 0.012985494919121265, + 0.9994597434997559, + -0.03019268624484539, + -0.032983620273081826 + ], + [ + 0.003524557687342167, + 0.030149294063448906, + 0.9995391964912415, + 0.08619477203949724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.013036231510341167, + -0.0030011041089892387, + -0.005719784999881953 + ], + [ + 0.012939845211803913, + 0.9994612336158752, + -0.030162576586008072, + -0.032954438858388856 + ], + [ + 0.0033926935866475105, + 0.03012104332447052, + 0.9995405077934265, + 0.08664724786442445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071533, + -0.012986541725695133, + -0.0028710588812828064, + -0.005585211263307094 + ], + [ + 0.012894193641841412, + 0.9994627237319946, + -0.03013247437775135, + -0.03292524030891921 + ], + [ + 0.0032608332112431526, + 0.030092788860201836, + 0.9995418190956116, + 0.08709968986207907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.012936853803694248, + -0.0027410101611167192, + -0.005450533536675866 + ], + [ + 0.012848534621298313, + 0.999464213848114, + -0.030102374032139778, + -0.03289601113491353 + ], + [ + 0.0031289716716855764, + 0.030064525082707405, + 0.9995430707931519, + 0.08755214480784522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.012887169606983662, + -0.0026109616737812757, + -0.005315730703807588 + ], + [ + 0.012802873738110065, + 0.9994657039642334, + -0.030072281137108803, + -0.032866762977514306 + ], + [ + 0.0029971131589263678, + 0.030036253854632378, + 0.9995443224906921, + 0.08800456634212175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.012837491929531097, + -0.0024809096939861774, + -0.005180828997506819 + ], + [ + 0.012757210060954094, + 0.9994671940803528, + -0.030042195692658424, + -0.0328374939834286 + ], + [ + 0.0028652544133365154, + 0.03000797890126705, + 0.9995455741882324, + 0.08845700335934382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.01278781145811081, + -0.002350856317207217, + -0.005045802977372537 + ], + [ + 0.01271153800189495, + 0.9994686841964722, + -0.030012115836143494, + -0.03280820400613871 + ], + [ + 0.0027333965990692377, + 0.02997969463467598, + 0.9995467662811279, + 0.0889094024429012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833801, + -0.012738140299916267, + -0.0022208034060895443, + -0.004910656989252031 + ], + [ + 0.012665865942835808, + 0.9994701743125916, + -0.02998204343020916, + -0.03277889879724346 + ], + [ + 0.002601542044430971, + 0.029951410368084908, + 0.9995479583740234, + 0.08936176759942929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.012688469141721725, + -0.002090748865157366, + -0.004775388062654928 + ], + [ + 0.012620186433196068, + 0.9994716644287109, + -0.029951974749565125, + -0.03274958363917333 + ], + [ + 0.00246968911960721, + 0.02992311120033264, + 0.999549150466919, + 0.08981409743194425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.012638804502785206, + -0.0019606873393058777, + -0.0046400185580907005 + ], + [ + 0.012574505992233753, + 0.9994731545448303, + -0.029921913519501686, + -0.03272023650127849 + ], + [ + 0.002337831538170576, + 0.029894812032580376, + 0.9995503425598145, + 0.09026644549149412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.01258914452046156, + -0.0018306297715753317, + -0.004504527514761462 + ], + [ + 0.012528822757303715, + 0.9994746446609497, + -0.029891854152083397, + -0.03269087367975562 + ], + [ + 0.002205980708822608, + 0.029866499826312065, + 0.9995514750480652, + 0.0907187545364216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.012539485469460487, + -0.0017005691770464182, + -0.004368932499300891 + ], + [ + 0.012483133003115654, + 0.9994760751724243, + -0.029861805960536003, + -0.0326614792119696 + ], + [ + 0.00207412987947464, + 0.029838187620043755, + 0.9995526075363159, + 0.09117108036152177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.012489832006394863, + -0.0015705085825175047, + -0.004233212348377667 + ], + [ + 0.012437441386282444, + 0.9994775652885437, + -0.029831761494278908, + -0.03263207482150658 + ], + [ + 0.001942281611263752, + 0.02980986423790455, + 0.9995536804199219, + 0.09162336660658153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874756, + -0.012440181337296963, + -0.0014404463581740856, + -0.004097377165380445 + ], + [ + 0.012391743250191212, + 0.9994789958000183, + -0.02980172075331211, + -0.03260264933717176 + ], + [ + 0.001810434740036726, + 0.029781533405184746, + 0.9995548129081726, + 0.09207562491858852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525024, + -0.012390530668199062, + -0.0013103809906169772, + -0.0039614331029807544 + ], + [ + 0.012346039526164532, + 0.9994804859161377, + -0.02977168560028076, + -0.032573201063100764 + ], + [ + 0.0016785872867330909, + 0.029753196984529495, + 0.9995558857917786, + 0.0925278938920958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.012340889312326908, + -0.0011803125962615013, + -0.0038253715526795785 + ], + [ + 0.012300335802137852, + 0.9994819164276123, + -0.029741661623120308, + -0.03254373608289528 + ], + [ + 0.001546739600598812, + 0.029724856838583946, + 0.9995568990707397, + 0.09298012409218934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9999238848686218, + -0.012291247956454754, + -0.001050242455676198, + -0.0036891865695994268 + ], + [ + 0.012254626490175724, + 0.9994834065437317, + -0.029711641371250153, + -0.032514253755930075 + ], + [ + 0.0014148929622024298, + 0.0296965092420578, + 0.9995579719543457, + 0.09343232452152414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.012241614051163197, + -0.0009201763896271586, + -0.003552881226568993 + ], + [ + 0.012208915315568447, + 0.9994848370552063, + -0.029681628569960594, + -0.032484756278411867 + ], + [ + 0.0012830534251406789, + 0.029668157920241356, + 0.9995589852333069, + 0.09388448659322814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.01219198014587164, + -0.000790105143096298, + -0.0034164714715618906 + ], + [ + 0.012163196690380573, + 0.9994862675666809, + -0.029651617631316185, + -0.03245522453757509 + ], + [ + 0.001151211210526526, + 0.029639793559908867, + 0.9995599985122681, + 0.09433666581100936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.012142352759838104, + -0.0006600305205211043, + -0.0032799413935748947 + ], + [ + 0.012117477133870125, + 0.9994877576828003, + -0.029621616005897522, + -0.03242569272737623 + ], + [ + 0.001019368413835764, + 0.02961142733693123, + 0.9995609521865845, + 0.09478880377743533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.012092728167772293, + -0.0005299564218148589, + -0.003143307635712605 + ], + [ + 0.012071752920746803, + 0.9994891881942749, + -0.029591618105769157, + -0.03239612124361503 + ], + [ + 0.0008875289931893349, + 0.029583053663372993, + 0.9995619058609009, + 0.09524096023704404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.012043104507029057, + -0.000399880635086447, + -0.0030065509075421653 + ], + [ + 0.01202602218836546, + 0.9994906187057495, + -0.029561622068285942, + -0.03236653227514926 + ], + [ + 0.0007556906784884632, + 0.029554666951298714, + 0.9995628595352173, + 0.09569308303577131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937561, + -0.011993487365543842, + -0.00026980513939633965, + -0.0028696748782650696 + ], + [ + 0.011980288662016392, + 0.9994920492172241, + -0.02953164279460907, + -0.0323369308963231 + ], + [ + 0.0006238554487936199, + 0.02952628582715988, + 0.9995638132095337, + 0.09614517031097199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011943873949348927, + -0.00013972652959637344, + -0.002732695770051981 + ], + [ + 0.011934553273022175, + 0.9994934797286987, + -0.029501663520932198, + -0.032307306292883774 + ], + [ + 0.0004920198116451502, + 0.029497889801859856, + 0.9995647072792053, + 0.0965972683392465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01189426239579916, + -9.646406397223473e-06, + -0.0025955939343955104 + ], + [ + 0.01188881229609251, + 0.9994949102401733, + -0.029471686109900475, + -0.032277658634729464 + ], + [ + 0.0003601855132728815, + 0.029469488188624382, + 0.999565601348877, + 0.09704933405374508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.011844655498862267, + 0.00012043706374242902, + -0.0024583703655385214 + ], + [ + 0.011843066662549973, + 0.999496340751648, + -0.029441719874739647, + -0.03224799995345675 + ], + [ + 0.00022835057461634278, + 0.02944107912480831, + 0.9995664954185486, + 0.0975013637291774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749023, + -0.011795052327215672, + 0.0002505199227016419, + -0.0023210447485691177 + ], + [ + 0.011797317303717136, + 0.9994977712631226, + -0.029411757364869118, + -0.03221830908816978 + ], + [ + 9.651906293584034e-05, + 0.029412666335701942, + 0.9995673298835754, + 0.0979534063612941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.01174545381218195, + 0.00038060269434936345, + -0.002183596081055105 + ], + [ + 0.011751565150916576, + 0.9994992017745972, + -0.029381804168224335, + -0.03218860518670481 + ], + [ + -3.530949470587075e-05, + 0.029384247958660126, + 0.9995681643486023, + 0.09840541430145003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011695857159793377, + 0.0005106886965222657, + -0.002046029875688177 + ], + [ + 0.011705807410180569, + 0.999500572681427, + -0.02935185469686985, + -0.03215888587906021 + ], + [ + -0.00016713862714823335, + 0.029355822131037712, + 0.9995689988136292, + 0.09885738661832265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011646265164017677, + 0.000640776299405843, + -0.0019083590861692418 + ], + [ + 0.011660046875476837, + 0.9995020031929016, + -0.029321910813450813, + -0.032129138305190964 + ], + [ + -0.00029896647902205586, + 0.029327386990189552, + 0.999569833278656, + 0.09930937639729871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011596676893532276, + 0.0007708650082349777, + -0.0017705632677636886 + ], + [ + 0.011614282615482807, + 0.9995034337043762, + -0.029291970655322075, + -0.032099373473407834 + ], + [ + -0.00043079277384094894, + 0.029298944398760796, + 0.9995706081390381, + 0.09976132729492114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.011547092348337173, + 0.0009009555215016007, + -0.0016326499203216114 + ], + [ + 0.011568514630198479, + 0.999504804611206, + -0.029262039810419083, + -0.03206960122767353 + ], + [ + -0.0005626180209219456, + 0.02927049994468689, + 0.9995713829994202, + 0.10021324205372062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071411, + -0.01149750966578722, + 0.001031049177981913, + -0.0014946302072686693 + ], + [ + 0.011522739194333553, + 0.9995062351226807, + -0.02923211269080639, + -0.032039791248956985 + ], + [ + -0.0006944435881450772, + 0.02924204431474209, + 0.9995720982551575, + 0.10066516905415133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.011447933502495289, + 0.00116114248521626, + -0.0013564949103136192 + ], + [ + 0.011476964689791203, + 0.9995076060295105, + -0.02920219674706459, + -0.03200997218926083 + ], + [ + -0.0008262660703621805, + 0.029213588684797287, + 0.9995728731155396, + 0.10111706599273629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.011398359201848507, + 0.0012912353267893195, + -0.001218233097960323 + ], + [ + 0.011431182734668255, + 0.9995090365409851, + -0.029172277078032494, + -0.03198013332785423 + ], + [ + -0.0009580852347426116, + 0.029185118153691292, + 0.9995735883712769, + 0.10156892436599382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.011348787695169449, + 0.0014213332906365395, + -0.0010798701959969983 + ], + [ + 0.011385397985577583, + 0.9995104074478149, + -0.029142368584871292, + -0.03195026863724866 + ], + [ + -0.001089907018467784, + 0.029156643897294998, + 0.9995742440223694, + 0.10202079345920283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.99993497133255, + -0.011299221776425838, + 0.001551430905237794, + -0.000941378552034092 + ], + [ + 0.011339609511196613, + 0.9995118379592896, + -0.02911246567964554, + -0.0319203887695922 + ], + [ + -0.0012217252515256405, + 0.029128164052963257, + 0.9995749592781067, + 0.10247263344682785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.011249659582972527, + 0.001681528170593083, + -0.0008027773168304288 + ], + [ + 0.011293817311525345, + 0.9995132088661194, + -0.02908257022500038, + -0.03189049204928356 + ], + [ + -0.0013535405742004514, + 0.029099680483341217, + 0.9995756149291992, + 0.10292443288178436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.011200102046132088, + 0.001811628695577383, + -0.0006640694583434939 + ], + [ + 0.011248022317886353, + 0.9995145797729492, + -0.02905268222093582, + -0.03186056917244919 + ], + [ + -0.0014853563625365496, + 0.02907118946313858, + 0.999576210975647, + 0.10337624291199644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068665, + -0.011150544509291649, + 0.001941730733960867, + -0.000525232849186715 + ], + [ + 0.011202219873666763, + 0.999515950679779, + -0.02902279794216156, + -0.031830629098490194 + ], + [ + -0.0016171708703041077, + 0.029042690992355347, + 0.9995768666267395, + 0.10382802665553145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.011100993491709232, + 0.0020718355663120747, + -0.0003862786543688047 + ], + [ + 0.0111564164981246, + 0.9995173811912537, + -0.028992917388677597, + -0.03180067369472781 + ], + [ + -0.0017489854944869876, + 0.029014181345701218, + 0.9995774626731873, + 0.1042797678590569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.011051444336771965, + 0.002201942726969719, + -0.00024722737616228105 + ], + [ + 0.011110605672001839, + 0.9995187520980835, + -0.02896304242312908, + -0.031770691973114364 + ], + [ + -0.0018807994201779366, + 0.02898566983640194, + 0.999578058719635, + 0.10473152539384976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.01100190170109272, + 0.0023320468608289957, + -0.00010804962169546557 + ], + [ + 0.011064795777201653, + 0.9995201230049133, + -0.028933178633451462, + -0.03174069566831429 + ], + [ + -0.0020126078743487597, + 0.028957150876522064, + 0.9995786547660828, + 0.1051832485028297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.010952360928058624, + 0.002462154719978571, + 3.1230842125227933e-05 + ], + [ + 0.01101897843182087, + 0.9995214939117432, + -0.02890331670641899, + -0.03171066151908501 + ], + [ + -0.00214441679418087, + 0.02892862632870674, + 0.9995791912078857, + 0.10563498389513609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9999371767044067, + -0.010902822948992252, + 0.0025922637432813644, + 0.00017065127249529474 + ], + [ + 0.010973156429827213, + 0.999522864818573, + -0.028873462229967117, + -0.03168063665034881 + ], + [ + -0.002276224549859762, + 0.02890009433031082, + 0.9995797276496887, + 0.1060866303293806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.010853239335119724, + 0.0027225082740187645, + 0.0003103038310655393 + ], + [ + 0.010927286930382252, + 0.9995242357254028, + -0.028843583539128304, + -0.0316505266353488 + ], + [ + -0.0024081668816506863, + 0.028871526941657066, + 0.9995802044868469, + 0.10653834855183959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/tilt_down/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ef452d85c78107c053775359751113fbba3e84fa --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/tilt_down/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.003249457745911544, + -0.005532916153371488, + -0.005579644348472357 + ], + [ + 0.0032319806050509214, + 0.9999897614842036, + -0.003164758876086579, + -0.004676752258092165 + ], + [ + 0.00554314348846674, + 0.0031468112277680117, + 0.9999796686334225, + -0.0007416859152726829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005353033380495992, + -0.011372062807704617, + -0.01118343137204647 + ], + [ + 0.00532000046223402, + 0.9999815263480549, + -0.0029329813081026843, + -0.006022309418767691 + ], + [ + 0.011387553066015244, + 0.0028722503540231804, + 0.9999310272533813, + -0.0023136166855692863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999870836734772, + -0.010353823449985524, + -0.012291528105656228, + -0.013045857660472393 + ], + [ + 0.010184912011027338, + 0.9998539290486093, + -0.0137261108482242, + -0.01793772540986538 + ], + [ + 0.012431849725544456, + 0.013599151799582385, + 0.9998302658992346, + -0.00023266227799467742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014285256205102539, + -0.017316874028633602, + -0.018272200599312782 + ], + [ + 0.013956792652606964, + 0.999723165160488, + -0.018942612520348807, + -0.02461937814950943 + ], + [ + 0.01758267916738987, + 0.018696151808455616, + 0.9996705863588928, + -0.0006188844563439488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002444, + -0.018563783557755547, + -0.02297298272774767, + -0.02411813661456108 + ], + [ + 0.017997808754444126, + 0.9995352758406814, + -0.024602848890507692, + -0.03177720680832863 + ], + [ + 0.02341903001070023, + 0.024178650938811108, + 0.9994332920351955, + -0.0011674959678202868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9993673563003542, + -0.022310617012158855, + -0.027696389531447728, + -0.029013922438025475 + ], + [ + 0.021495414897799495, + 0.9993368293172111, + -0.0293902980882895, + -0.03801552578806877 + ], + [ + 0.028333738446235664, + 0.02877636136884991, + 0.9991842562572043, + -0.0016737735131755471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.022230898983619247, + -0.027590722340676232, + -0.02888999693095684 + ], + [ + 0.02145053632557392, + 0.9993703301675486, + -0.02826438988789767, + -0.03797529637813568 + ], + [ + 0.028201691806316376, + 0.027654803473179206, + 0.999219620238139, + -0.0016363204922527075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.02215144117438016, + -0.02748491018437853, + -0.028766075149178505 + ], + [ + 0.021405648440122604, + 0.9994024442773124, + -0.027138444641420064, + -0.03793506696820259 + ], + [ + 0.028069641441106796, + 0.02653319469077105, + 0.999253785564767, + -0.0015988508239388466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.022072251242121692, + -0.027378955444004174, + -0.028642138466238976 + ], + [ + 0.021360762417316437, + 0.9994333504856344, + -0.02601246985392434, + -0.0378948412835598 + ], + [ + 0.027937596663832664, + 0.025411544862112924, + 0.9992866330291877, + -0.0015614164294674993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.021993316327087047, + -0.027272862171987763, + -0.0285181924700737 + ], + [ + 0.021315868943929672, + 0.9994629891727118, + -0.024886467408173074, + -0.0378546267747879 + ], + [ + 0.027805553749203682, + 0.02428984004068813, + 0.9993182220211044, + -0.0015240169595927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.021914647855536568, + -0.027166627205481447, + -0.02839423157274723 + ], + [ + 0.02127097174525261, + 0.9994913604130098, + -0.023760446179931838, + -0.037814415991306305 + ], + [ + 0.02767351269721985, + 0.023168104706198685, + 0.9993484931121664, + -0.0014866527635604143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.02183624234445181, + -0.02706024909770848, + -0.02827027626335621 + ], + [ + 0.021226070821285248, + 0.9995184638745392, + -0.022634381519830132, + -0.037774208933115005 + ], + [ + 0.027541467919945717, + 0.022046313606899813, + 0.999377505539249, + -0.0014492718037217855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.021758096318491033, + -0.02695372638599105, + -0.02814630977809429 + ], + [ + 0.02118116244673729, + 0.9995442998022736, + -0.02150829720386156, + -0.037734001874923706 + ], + [ + 0.027409421280026436, + 0.020924475604432804, + 0.9994052593022333, + -0.001411925652064383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.02168021550790969, + -0.02684706518429441, + -0.028022347018122673 + ], + [ + 0.021136252209544182, + 0.9995688085431907, + -0.02038219184676053, + -0.037693802267313004 + ], + [ + 0.027277378365397453, + 0.019802603284996556, + 0.9994317544923526, + -0.0013745634350925684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424074, + -0.02160260012206815, + -0.026740265952017842, + -0.02789836935698986 + ], + [ + 0.02109134010970593, + 0.9995921092234948, + -0.01925606138666343, + -0.0376536026597023 + ], + [ + 0.027145339176058776, + 0.018680695314310422, + 0.9994569314099562, + -0.0013372359098866582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954104, + -0.02152524857255999, + -0.026633325391491, + -0.027774380519986153 + ], + [ + 0.021046424284577373, + 0.9996140827601326, + -0.018129916592251803, + -0.037613414227962494 + ], + [ + 0.027013299986720092, + 0.017558744805635004, + 0.9994808494707829, + -0.0012999436585232615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.021448153595733363, + -0.026526245680385432, + -0.02765039913356304 + ], + [ + 0.02100149728357792, + 0.999634848074343, + -0.01700374196650082, + -0.03757322579622269 + ], + [ + 0.026881258934736252, + 0.016436753170934324, + 0.9995035085996459, + -0.0012626346433535218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967715, + -0.021371328478280754, + -0.026419025643287637, + -0.027526382356882095 + ], + [ + 0.02095657214522362, + 0.9996542863028944, + -0.015877559713070102, + -0.03753305599093437 + ], + [ + 0.026749217882752425, + 0.015314734171153168, + 0.9995248493502253, + -0.0012254121247678995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451296, + -0.021294765873553917, + -0.026311671184939368, + -0.027402391657233238 + ], + [ + 0.020911641418933872, + 0.999672516577691, + -0.014751365247620237, + -0.03749287128448486 + ], + [ + 0.02661718241870404, + 0.014192691897646504, + 0.9995449313604511, + -0.0011881223181262612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.021218469828408852, + -0.02620417724886741, + -0.027278367429971695 + ], + [ + 0.02086670882999897, + 0.9996894193990064, + -0.013625147513512247, + -0.03745270520448685 + ], + [ + 0.02648514322936535, + 0.013070605415285545, + 0.9995637541194168, + -0.0011509186588227749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.021142434931008425, + -0.026096546030134803, + -0.02715435065329075 + ], + [ + 0.020821768790483475, + 0.9997050545811721, + -0.012498917934910257, + -0.03741253539919853 + ], + [ + 0.026353105902671814, + 0.011948488680879362, + 0.9995812582021881, + -0.001113698584958911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.021066667023626834, + -0.025988776244537513, + -0.02703033946454525 + ], + [ + 0.02077682688832283, + 0.999719481534527, + -0.01137266905273603, + -0.03737236186861992 + ], + [ + 0.02622106857597828, + 0.010826340429957141, + 0.9995975627332367, + -0.001076461630873382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.02099116622850578, + -0.02588087207824299, + -0.026906296610832214 + ], + [ + 0.020731879398226738, + 0.9997325813439797, + -0.010246416272720797, + -0.037332210689783096 + ], + [ + 0.026089034974575043, + 0.009704168606172613, + 0.9996125485771028, + -0.0010393117554485798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636965, + -0.02091592721175337, + -0.025772831984418283, + -0.026782259345054626 + ], + [ + 0.02068692818284035, + 0.9997444134205317, + -0.009120152201122523, + -0.037292059510946274 + ], + [ + 0.025956999510526664, + 0.008581967369412934, + 0.9996262155035668, + -0.0010021452326327562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.02084095768122189, + -0.02566465474927116, + -0.026658209040760994 + ], + [ + 0.020641973242163658, + 0.9997549780652949, + -0.007993889435465897, + -0.03725190833210945 + ], + [ + 0.02582496777176857, + 0.00745974786789671, + 0.9996386233441018, + -0.0009650135179981589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.02076624662637027, + -0.02555634238553184, + -0.02653416432440281 + ], + [ + 0.020597010850906372, + 0.9997642746751871, + -0.006867607057884602, + -0.037211764603853226 + ], + [ + 0.025692934170365334, + 0.0063374966183846, + 0.9996497716507967, + -0.0009278655634261668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.020691809094835176, + -0.025447897628187315, + -0.02641010843217373 + ], + [ + 0.020552048459649086, + 0.9997723038727736, + -0.005741328837198747, + -0.0371716171503067 + ], + [ + 0.025560900568962097, + 0.005215237376173244, + 0.9996596610136784, + -0.0008907526498660445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106814, + -0.02061763242544084, + -0.025339314973654135, + -0.026286035776138306 + ], + [ + 0.020507080480456356, + 0.9997790654661908, + -0.00461504875104247, + -0.03713149204850197 + ], + [ + 0.025428868830204017, + 0.004092951039136972, + 0.9996682311747509, + -0.0008536750101484358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.020543724047168362, + -0.025230602544984354, + -0.02616197057068348 + ], + [ + 0.02046210691332817, + 0.9997845592325445, + -0.0034887607779757125, + -0.03709135577082634 + ], + [ + 0.025296838954091072, + 0.0029706447702821754, + 0.999675541883564, + -0.0008165806066244841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.020470082474862875, + -0.02512175515965283, + -0.02603789232671261 + ], + [ + 0.02041713334619999, + 0.9997887854075067, + -0.002362473790687885, + -0.03705122321844101 + ], + [ + 0.025164809077978134, + 0.0018483199824606265, + 0.9996815930986144, + -0.0007795210694894195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.020396709654364048, + -0.025012777062392706, + -0.025913799181580544 + ], + [ + 0.02037215419113636, + 0.9997916844377428, + -0.00123619123812342, + -0.03701111301779747 + ], + [ + 0.025032782927155495, + 0.0007259855348853686, + 0.9996863850329344, + -0.000742497097235173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297976, + -0.020323598598387053, + -0.02490366101044231, + -0.025789713487029076 + ], + [ + 0.02032716572284699, + 0.9997933752235132, + -0.0001099031175684049, + -0.03697098419070244 + ], + [ + 0.024900749325752265, + -0.0003963774094258376, + 0.9996898573213004, + -0.000705456011928618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595766, + -0.020250758432424177, + -0.024794418949983014, + -0.025665612891316414 + ], + [ + 0.020282177254557613, + 0.9997937984573014, + 0.00101637974079379, + -0.0369308777153492 + ], + [ + 0.024768723174929626, + -0.0015187470569163173, + 0.9996920702584982, + -0.0006684506661258638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847109, + -0.020178184102965208, + -0.024685041836778648, + -0.025541501119732857 + ], + [ + 0.02023718692362309, + 0.9997928945975496, + 0.002142653692384507, + -0.03689076751470566 + ], + [ + 0.024636695161461837, + -0.00264111977595246, + 0.999692964270733, + -0.0006314796628430486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.020105875538769774, + -0.024575537569584683, + -0.025417394936084747 + ], + [ + 0.020192187279462814, + 0.9997907829394906, + 0.0032689179629829426, + -0.03685066103935242 + ], + [ + 0.02450467273592949, + -0.0037635022502988994, + 0.9996926583354063, + -0.000594492768868804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303347, + -0.020033838806354003, + -0.024465899376923544, + -0.025293277576565742 + ], + [ + 0.020147187635302547, + 0.9997873438088363, + 0.004395181513558775, + -0.03681056573987007 + ], + [ + 0.024372644722461707, + -0.004885903452788061, + 0.999691032721492, + -0.0005575406830757856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995040297508242, + -0.019962066447088814, + -0.024356133012853623, + -0.025169141590595245 + ], + [ + 0.02010218054056168, + 0.9997826970693842, + 0.005521428940916406, + -0.036770474165678024 + ], + [ + 0.024240620434284217, + -0.0060083031617845905, + 0.99968808812464, + -0.000520623754709959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713137, + -0.019890566099288506, + -0.02424623923510718, + -0.025045014917850494 + ], + [ + 0.020057173445820812, + 0.9997767233498551, + 0.006647661500223612, + -0.03673037886619568 + ], + [ + 0.024108599871397025, + -0.0071307047298505895, + 0.9996839436549921, + -0.0004836904408875853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.019819330829856673, + -0.02413621075413134, + -0.0249208752065897 + ], + [ + 0.020012158900499344, + 0.9997695411524006, + 0.0077738975495274185, + -0.03669029474258423 + ], + [ + 0.023976575583219528, + -0.008253124180527835, + 0.9996784792470428, + -0.0004467918479349464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030032, + -0.019748366030723823, + -0.02402605756826612, + -0.02479674108326435 + ], + [ + 0.019967138767242435, + 0.9997610321721934, + 0.008900112027372474, + -0.03665020689368248 + ], + [ + 0.023844553157687194, + -0.009375533850547145, + 0.9996716959773349, + -0.0004098769277334213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188479, + -0.019677668416470503, + -0.02391577439456158, + -0.024672575294971466 + ], + [ + 0.019922116771340374, + 0.9997512558404033, + 0.010026309711298373, + -0.036610137671232224 + ], + [ + 0.023712530732154853, + -0.01049795609199965, + 0.999663712120649, + -0.0003730484168045223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.019607239965541264, + -0.02380536363481623, + -0.02454841323196888 + ], + [ + 0.01987709105014801, + 0.9997402121918056, + 0.01115248917651713, + -0.03657006844878197 + ], + [ + 0.023580510169267654, + -0.011620369318004718, + 0.9996544092241548, + -0.00033620349131524563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412478, + -0.01953707901371184, + -0.02369482566291218, + -0.02442426048219204 + ], + [ + 0.019832059741020206, + 0.9997279009119693, + 0.012278656440622987, + -0.03652999550104141 + ], + [ + 0.02344849146902562, + -0.012742782169162789, + 0.9996438464889003, + -0.00029934229678474367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524477, + -0.019467191158902566, + -0.023584164924782016, + -0.024300092831254005 + ], + [ + 0.0197870247066021, + 0.9997143229118122, + 0.013404791472972338, + -0.036489930003881454 + ], + [ + 0.023316474631428722, + -0.01386518663916376, + 0.9996319645404801, + -0.00026251637609675527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636477, + -0.01939757155278354, + -0.02347337045656829, + -0.024175910279154778 + ], + [ + 0.019741987809538845, + 0.9996995365149517, + 0.01453092183298665, + -0.036449871957302094 + ], + [ + 0.02318445220589638, + -0.014987590713787134, + 0.9996188822647318, + -0.00022572495799977332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.019328219757673498, + -0.023362455737748773, + -0.024051716551184654 + ], + [ + 0.01969694159924984, + 0.9996834235840658, + 0.015657021682344587, + -0.03640982136130333 + ], + [ + 0.023052437230944633, + -0.016109987889185294, + 0.9996044208622136, + -0.00018896909023169428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.01925914181721668, + -0.023251415931010856, + -0.02392752841114998 + ], + [ + 0.019651899114251137, + 0.999665983992211, + 0.016783093121910005, + -0.036369774490594864 + ], + [ + 0.02292042039334774, + -0.017232374400547295, + 0.9995887594790732, + -0.00015219670603983104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786684, + -0.019190332539238665, + -0.023140247497727796, + -0.02380332723259926 + ], + [ + 0.01960684731602669, + 0.9996473364469348, + 0.017909148236974915, + -0.0363297313451767 + ], + [ + 0.022788405418396, + -0.01835475764647255, + 0.9995717782902156, + -0.00011545899178599939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805788, + -0.019121789868799043, + -0.02302895823559565, + -0.023679129779338837 + ], + [ + 0.019561791792511943, + 0.9996274222401972, + 0.019035167720117478, + -0.03628968074917793 + ], + [ + 0.022656392306089405, + -0.019477124334205252, + 0.9995535375895114, + -7.8705204941798e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9995557665824892, + -0.019053523692956854, + -0.022917541665669044, + -0.023554902523756027 + ], + [ + 0.019516734406352047, + 0.9996062404243673, + 0.020161168746914725, + -0.03624965623021126 + ], + [ + 0.02252437733113766, + -0.020599484210266066, + 0.999534036781103, + -4.2037620005430654e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.01898552088355142, + -0.022806003121940036, + -0.023430701345205307 + ], + [ + 0.01947166956961155, + 0.9995837918439736, + 0.02128713501325645, + -0.03620961681008339 + ], + [ + 0.022392362356185913, + -0.021721828421090078, + 0.9995132762618515, + -5.3025828492536675e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.018917794749360218, + -0.022694341926338985, + -0.02330646850168705 + ], + [ + 0.019426602870225906, + 0.9995600166298788, + 0.02241306914092908, + -0.03616959601640701 + ], + [ + 0.022260352969169617, + -0.02284415959860696, + 0.9994911961065025, + 3.134628423140384e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.018850336073145135, + -0.02258255988065169, + -0.02318223938345909 + ], + [ + 0.019381528720259666, + 0.999535033841944, + 0.023538976426572437, + -0.03612956777215004 + ], + [ + 0.02212834358215332, + -0.023966472152994158, + 0.9994678562468704, + 6.801152630941942e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.018783152696002673, + -0.02247065415857692, + -0.02305799163877964 + ], + [ + 0.019336454570293427, + 0.9995087251705462, + 0.024664837437459862, + -0.03608955815434456 + ], + [ + 0.021996330469846725, + -0.02508876486606916, + 0.9994431969725953, + 0.0001046415272867307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.018716239009243754, + -0.02235862861964128, + -0.02293373830616474 + ], + [ + 0.01929137483239174, + 0.9994812090274953, + 0.025790668888865748, + -0.036049552261829376 + ], + [ + 0.021864324808120728, + -0.02621102856147271, + 0.9994172784644046, + 0.0001412363926647231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567934, + -0.018649597281964515, + -0.022246480118400493, + -0.02280948869884014 + ], + [ + 0.019246291369199756, + 0.9994523664609812, + 0.026916462243836342, + -0.036009542644023895 + ], + [ + 0.021732315421104435, + -0.027333284137067492, + 0.9993900993901468, + 0.0001778478908818215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.01858322782312522, + -0.022134207261611475, + -0.022685250267386436 + ], + [ + 0.019201204180717468, + 0.9994223162742245, + 0.028042227038753868, + -0.035969529300928116 + ], + [ + 0.021600304171442986, + -0.028455519022430802, + 0.9993616604135245, + 0.00021447597828228027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.018517126403540352, + -0.022021821432514594, + -0.02256097085773945 + ], + [ + 0.019156109541654587, + 0.9993909402318241, + 0.029167943322019878, + -0.03592953830957413 + ], + [ + 0.021468302235007286, + -0.029577716865807242, + 0.9993319027643136, + 0.000251016957918182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.01845129972342604, + -0.02190930857410388, + -0.022436700761318207 + ], + [ + 0.019111013039946556, + 0.9993582974195367, + 0.03029362075989492, + -0.03588953986763954 + ], + [ + 0.02133629471063614, + -0.03069990221447647, + 0.9993008845345616, + 0.0002875749778468162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.01838574539874727, + -0.0217966801896732, + -0.02231241948902607 + ], + [ + 0.019065912812948227, + 0.9993244471202223, + 0.031419265560024064, + -0.03584954887628555 + ], + [ + 0.02120428904891014, + -0.031822062500190144, + 0.9992686064296039, + 0.000324098247801885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.01832046570835138, + -0.021683933152272274, + -0.02218814566731453 + ], + [ + 0.01902081072330475, + 0.9992892716622717, + 0.03254484994847357, + -0.03580956161022186 + ], + [ + 0.021072285249829292, + -0.03294418117807756, + 0.9992350097335968, + 0.00036063720472157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.018255455259912685, + -0.021571067555515962, + -0.022063853219151497 + ], + [ + 0.018975701183080673, + 0.9992528293654841, + 0.03367039493742751, + -0.03576957806944847 + ], + [ + 0.020940283313393593, + -0.03406627183600589, + 0.9992001532163547, + 0.00039714123704470694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.01819071993977583, + -0.021458082381273932, + -0.02193954959511757 + ], + [ + 0.01893058605492115, + 0.9992151205308879, + 0.03479589538566316, + -0.035729605704545975 + ], + [ + 0.020808277651667595, + -0.0351883367762446, + 0.9991640366339688, + 0.00043361031566746533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.018126255958279918, + -0.021344981558506948, + -0.021815231069922447 + ], + [ + 0.018885469064116478, + 0.9991761457383438, + 0.03592134243700207, + -0.035689644515514374 + ], + [ + 0.020676275715231895, + -0.03631036715149573, + 0.9991266605106784, + 0.00047004417865537107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.018062065613735075, + -0.021231761964838093, + -0.02169092185795307 + ], + [ + 0.018840348348021507, + 0.9991359042767809, + 0.037046745816906194, + -0.03564968332648277 + ], + [ + 0.020544273778796196, + -0.037432368455678815, + 0.999087964626157, + 0.0005064947181381285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.017998150546737243, + -0.021118429776343473, + -0.02156659960746765 + ], + [ + 0.01879522204399109, + 0.9990943967333272, + 0.03817209666966532, + -0.035609714686870575 + ], + [ + 0.020412277430295944, + -0.03855432852067236, + 0.9990480095130552, + 0.000542909896466881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.017934506034279544, + -0.021004975768360527, + -0.02144228108227253 + ], + [ + 0.018750092014670372, + 0.9990516226366355, + 0.03929740100304819, + -0.035569753497838974 + ], + [ + 0.020280277356505394, + -0.03967624899402577, + 0.9990067352248146, + 0.0005793423042632639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428347, + -0.017871142726325326, + -0.020891410517383607, + -0.021317951381206512 + ], + [ + 0.01870496198534966, + 0.999007583424999, + 0.04042263881779814, + -0.03552979975938797 + ], + [ + 0.020148279145359996, + -0.04079813342256752, + 0.9989642609529901, + 0.0006157386815175414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.01780804820773296, + -0.020777727958920373, + -0.02119360864162445 + ], + [ + 0.01865982636809349, + 0.9989622778067173, + 0.041547827267381675, + -0.03548985719680786 + ], + [ + 0.020016280934214592, + -0.04191997530148103, + 0.9989204675677772, + 0.0006521003670059144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862734, + -0.01774522409264244, + -0.020663934258099214, + -0.021069269627332687 + ], + [ + 0.018614679574966434, + 0.9989156466929956, + 0.04267295664731974, + -0.035449907183647156 + ], + [ + 0.019884284585714344, + -0.043041776735621026, + 0.9988753548229993, + 0.0006884787580929697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556704, + -0.017682680410571618, + -0.020550023166332722, + -0.02094491757452488 + ], + [ + 0.018569534644484523, + 0.9988678093064773, + 0.04379803088695819, + -0.035409968346357346 + ], + [ + 0.01975229009985924, + -0.04416354166248065, + 0.9988290418860337, + 0.0007248217589221895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.017620409480759047, + -0.020436000155717025, + -0.020820556208491325 + ], + [ + 0.01852438785135746, + 0.9988187062956436, + 0.044923044063318845, + -0.03537004068493843 + ], + [ + 0.019620295614004135, + -0.04528525204363886, + 0.9987814105177304, + 0.0007611290202476084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.017558408057195087, + -0.020321861678242587, + -0.02069619670510292 + ], + [ + 0.018479228019714355, + 0.9987682783308642, + 0.0460479899931697, + -0.03533010557293892 + ], + [ + 0.019488301128149033, + -0.046406918459514515, + 0.9987325196063465, + 0.0007974536856636405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.017496690872777783, + -0.020207613105489585, + -0.02057182602584362 + ], + [ + 0.0184340737760067, + 0.9987166440302674, + 0.04717288042479262, + -0.035290174186229706 + ], + [ + 0.01935631036758423, + -0.04752853095670056, + 0.9986823100756558, + 0.0008337426697835326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.017435246954775586, + -0.020093254020381063, + -0.020447444170713425 + ], + [ + 0.018388913944363594, + 0.9986636843407172, + 0.04829770806072152, + -0.035250261425971985 + ], + [ + 0.019224319607019424, + -0.048650103956317005, + 0.9986308404729759, + 0.0008699969621375203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.017374071676745796, + -0.019978775140955436, + -0.020323066040873528 + ], + [ + 0.018343742936849594, + 0.9986095187593145, + 0.0494224737699308, + -0.03521034121513367 + ], + [ + 0.019092323258519173, + -0.04977162861747812, + 0.9985781114279074, + 0.0009062679600901902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.017313176817632392, + -0.01986419471802566, + -0.020198674872517586 + ], + [ + 0.018298573791980743, + 0.998554029202991, + 0.05054715885905041, + -0.035170432180166245 + ], + [ + 0.018960338085889816, + -0.05089309610198738, + 0.9985241236041735, + 0.0009425031021237373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.01725255636552599, + -0.0197494977554695, + -0.0200742706656456 + ], + [ + 0.018253399059176445, + 0.9984972736029792, + 0.05167178535845835, + -0.03513052687048912 + ], + [ + 0.01882834918797016, + -0.05201451104645862, + 0.9984688167228738, + 0.0009787040762603283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.01719221188317045, + -0.019634690447775573, + -0.01994987204670906 + ], + [ + 0.018208220601081848, + 0.9984393126865204, + 0.05279634214978596, + -0.035090625286102295 + ], + [ + 0.018696362152695656, + -0.0531358695694657, + 0.9984122508534011, + 0.0010149208828806877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.017132141522552657, + -0.019519774958687317, + -0.019825462251901627 + ], + [ + 0.018163036555051804, + 0.9983800271407836, + 0.05392082499683928, + -0.03505072370171547 + ], + [ + 0.01856437511742115, + -0.054257177680035726, + 0.9983544253969018, + 0.0010511029977351427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.017072349653697565, + -0.019404746517220434, + -0.019701037555933 + ], + [ + 0.01811785064637661, + 0.9983194767684249, + 0.05504523385328112, + -0.03501083329319954 + ], + [ + 0.018432386219501495, + -0.055378417549579534, + 0.9982952820039094, + 0.001087249256670475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.017012833766802092, + -0.019289614710903614, + -0.01957661658525467 + ], + [ + 0.018072661012411118, + 0.9982576613344101, + 0.05616957100840847, + -0.03497094288468361 + ], + [ + 0.01830040104687214, + -0.05649960404864896, + 0.9982348791223354, + 0.0011234123958274722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.016953594857532756, + -0.019174370735314524, + -0.019452188163995743 + ], + [ + 0.01802746392786503, + 0.9981945809272722, + 0.057293835040278504, + -0.034931063652038574 + ], + [ + 0.018168417736887932, + -0.05762072834240655, + 0.998173217462441, + 0.0011595413088798523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231325, + -0.016894631079846123, + -0.019059016747406038, + -0.019327742978930473 + ], + [ + 0.017982264980673793, + 0.9981302363217254, + 0.05841801710799769, + -0.03489118441939354 + ], + [ + 0.01803643070161343, + -0.05874179096044218, + 0.998110237046913, + 0.0011956337839365005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.01683594376923798, + -0.01894356080560278, + -0.0192033052444458 + ], + [ + 0.017937062308192253, + 0.9980646272875191, + 0.059542119501267095, + -0.0348513126373291 + ], + [ + 0.017904451116919518, + -0.0598627902486284, + 0.9980460576628406, + 0.0012317432556301355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.0167775371328843, + -0.0188280000225455, + -0.019078858196735382 + ], + [ + 0.017891855910420418, + 0.9979977532293262, + 0.06066614821720333, + -0.034811437129974365 + ], + [ + 0.01777247153222561, + -0.060983715587894, + 0.9979805006453307, + 0.0012678172206506133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.016719402944329824, + -0.018712324725603274, + -0.018954388797283173 + ], + [ + 0.017846643924713135, + 0.9979296149388358, + 0.06179009441643254, + -0.03477158024907112 + ], + [ + 0.01764049008488655, + -0.06210458960628999, + 0.997913743377387, + 0.0013038567267358303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.016661546060181637, + -0.018596545179801797, + -0.01882993057370186 + ], + [ + 0.017801424488425255, + 0.997860152838267, + 0.06291395465010492, + -0.03473171591758728 + ], + [ + 0.017508508637547493, + -0.0632253884853602, + 0.9978456682900053, + 0.001339912530966103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.016603966638496788, + -0.018480661857969274, + -0.01870546117424965 + ], + [ + 0.017756205052137375, + 0.99778948641313, + 0.06403773149019513, + -0.034691862761974335 + ], + [ + 0.017376530915498734, + -0.0643461090040508, + 0.9977763355168907, + 0.0013759327121078968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.016546670580759815, + -0.01836467392955132, + -0.018580975010991096 + ], + [ + 0.017710983753204346, + 0.9977175557199784, + 0.06516142526073457, + -0.03465201333165169 + ], + [ + 0.017244551330804825, + -0.06546677199548588, + 0.9977057429521379, + 0.001411918899975717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.016489648780891163, + -0.01824858095988042, + -0.01845649629831314 + ], + [ + 0.01766575500369072, + 0.9976443608601091, + 0.06628503454079658, + -0.03461216017603874 + ], + [ + 0.017112577334046364, + -0.06658735528362243, + 0.9976338327924585, + 0.0014479209203273058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.016432903255313387, + -0.01813238359827301, + -0.018332000821828842 + ], + [ + 0.017620524391531944, + 0.9975698433837535, + 0.06740854450022679, + -0.03457232192158699 + ], + [ + 0.016980601474642754, + -0.06770786325776586, + 0.9975606644325756, + 0.0014838874340057373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997035861015322, + -0.016376436208363203, + -0.018016080649410224, + -0.01820751652121544 + ], + [ + 0.017575286328792575, + 0.9974941201365981, + 0.06853198417890936, + -0.03453247621655464 + ], + [ + 0.016848625615239147, + -0.0688283056235537, + 0.9974862368106423, + 0.0015198710607364774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.01632024908515466, + -0.017899678338276534, + -0.01808299869298935 + ], + [ + 0.01753004640340805, + 0.9974170752708055, + 0.06965531415556608, + -0.03449266031384468 + ], + [ + 0.016716651618480682, + -0.06994865631072963, + 0.9974104925919715, + 0.001555767492391169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660097, + -0.016264337442473135, + -0.01778316730120724, + -0.0179585088044405 + ], + [ + 0.017484799027442936, + 0.9973388259795578, + 0.07077856002340441, + -0.03445281460881233 + ], + [ + 0.016584677621722225, + -0.07106894091820007, + 0.9973335489155771, + 0.0015917327255010605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.01620870974325917, + -0.017666558242295963, + -0.017833983525633812 + ], + [ + 0.017439553514122963, + 0.9972592538011064, + 0.07190170804430378, + -0.03441299870610237 + ], + [ + 0.01645270548760891, + -0.07218913204765046, + 0.9972552287721932, + 0.0016276101814582944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.016153357266254272, + -0.01754984696179494, + -0.017709465697407722 + ], + [ + 0.017394300550222397, + 0.9971784177404004, + 0.07302476662894838, + -0.03437317907810211 + ], + [ + 0.016320735216140747, + -0.07330925797416285, + 0.9971757089044451, + 0.0016635049832984805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.01609828387435532, + -0.01743303432214461, + -0.01758493110537529 + ], + [ + 0.017349043861031532, + 0.9970963198936255, + 0.07414771583686294, + -0.03433335945010185 + ], + [ + 0.016188763082027435, + -0.07442928618502306, + 0.9970948728105878, + 0.0016993641620501876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.016043491475514406, + -0.017316121926495485, + -0.01746038906276226 + ], + [ + 0.01730378530919552, + 0.9970130176622687, + 0.07527057922165233, + -0.034293562173843384 + ], + [ + 0.01605679653584957, + -0.07554923263755585, + 0.9970127786654022, + 0.001735188066959381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.015988974871539618, + -0.017199107794167175, + -0.01733584702014923 + ], + [ + 0.017258519306778908, + 0.9969283938556475, + 0.07639333141616067, + -0.03425375372171402 + ], + [ + 0.015924828127026558, + -0.07666909962161243, + 0.9969294261356823, + 0.0017710288520902395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.01593473782212242, + -0.01708199372640799, + -0.017211299389600754 + ], + [ + 0.017213249579072, + 0.9968425062318605, + 0.0775159921998474, + -0.03421395644545555 + ], + [ + 0.015792859718203545, + -0.07778887173685337, + 0.9968447568672729, + 0.0018068348290398717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591677, + -0.015880783976560474, + -0.016964782465982417, + -0.017086753621697426 + ], + [ + 0.017167979851365093, + 0.9967553569624272, + 0.0786385416403699, + -0.034174155443906784 + ], + [ + 0.015660896897315982, + -0.07890855772482004, + 0.9967588297889222, + 0.0018426567548885942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.015827106707520248, + -0.016847468109720362, + -0.016962194815278053 + ], + [ + 0.017122698947787285, + 0.9966669441073931, + 0.07976099683066955, + -0.034134358167648315 + ], + [ + 0.01552892941981554, + -0.08002815987420044, + 0.9966716445602329, + 0.0018784435233101249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.015773709142095783, + -0.01673005802411945, + -0.016837622970342636 + ], + [ + 0.01707741804420948, + 0.9965772694585443, + 0.08088334154439626, + -0.03409457579255104 + ], + [ + 0.0153969656676054, + -0.0811476625929207, + 0.9965831428783052, + 0.0019141952507197857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.015720590108010753, + -0.016612547845559936, + -0.016713038086891174 + ], + [ + 0.017032131552696228, + 0.996486331453924, + 0.08200558916816962, + -0.03405480086803436 + ], + [ + 0.01526500005275011, + -0.08226707851674725, + 0.9964933832156485, + 0.0019499115878716111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.015667754559161015, + -0.01649494516864326, + -0.01658845879137516 + ], + [ + 0.016986841335892677, + 0.9963941323525191, + 0.08312771977942869, + -0.03401501849293709 + ], + [ + 0.015133040957152843, + -0.08338639513094556, + 0.9964023669388353, + 0.0019856453873217106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.015615200019627382, + -0.01637724079625689, + -0.0164638664573431 + ], + [ + 0.016941551119089127, + 0.9963006126864792, + 0.08424972869348839, + -0.03397525101900101 + ], + [ + 0.015001079067587852, + -0.08450561472544638, + 0.9963100937221349, + 0.0020213427487760782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.015562926325472765, + -0.016259437982305846, + -0.01633928343653679 + ], + [ + 0.01689625345170498, + 0.9962058901284208, + 0.08537163576873279, + -0.03393547609448433 + ], + [ + 0.014869115315377712, + -0.08562473625268521, + 0.9962165035974709, + 0.0020570573396980762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733645, + -0.01551092719706315, + -0.016141543937347597, + -0.016214681789278984 + ], + [ + 0.016850950196385387, + 0.9961099056052268, + 0.08649343268169728, + -0.03389571234583855 + ], + [ + 0.014737159013748172, + -0.08674375780649325, + 0.9961216567324289, + 0.002092736540362239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.015459216719063805, + -0.01602355236520147, + -0.016090072691440582 + ], + [ + 0.01680564694106579, + 0.9960126596964614, + 0.08761511431606224, + -0.03385595232248306 + ], + [ + 0.014605199918150902, + -0.08786267450962465, + 0.9960254936094515, + 0.0021283808164298534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.015407783387977476, + -0.015905467036315457, + -0.01596546545624733 + ], + [ + 0.016760336235165596, + 0.9959140915756975, + 0.08873668681716015, + -0.03381619602441788 + ], + [ + 0.014473242685198784, + -0.08898150660974558, + 0.9959281317698414, + 0.0021640416234731674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957644, + -0.015356627688897681, + -0.015787285643360315, + -0.015840847045183182 + ], + [ + 0.01671502180397511, + 0.9958143228698062, + 0.08985813727581096, + -0.03377644345164299 + ], + [ + 0.014341286383569244, + -0.09010022720577752, + 0.9958294543137596, + 0.0021996672730892897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.01530575705201781, + -0.015669010497377858, + -0.01571621745824814 + ], + [ + 0.016669703647494316, + 0.9957132336030924, + 0.09097946454399154, + -0.033736702054739 + ], + [ + 0.014209331944584846, + -0.09121883469266517, + 0.9957294613727482, + 0.00223525776527822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.015255171506178727, + -0.015550643013541962, + -0.015591572970151901 + ], + [ + 0.016624385491013527, + 0.9956109426830088, + 0.09210067816130511, + -0.033696968108415604 + ], + [ + 0.014077378436923027, + -0.09233733861683371, + 0.995628271825382, + 0.0022708126343786716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.01520485837424613, + -0.01543218112070897, + -0.015466934069991112 + ], + [ + 0.016579054296016693, + 0.9955073310363695, + 0.0932217693208372, + -0.03365723788738251 + ], + [ + 0.013945424929261208, + -0.09345573756967437, + 0.9955257656335179, + 0.0023063847329467535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.01515483466967689, + -0.015313625544635459, + -0.01534230262041092 + ], + [ + 0.016533726826310158, + 0.9954024598295141, + 0.09434272918205042, + -0.033617496490478516 + ], + [ + 0.013813471421599388, + -0.0945740227142622, + 0.9954220039103139, + 0.002341973129659891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.015105087369991282, + -0.015194976970870406, + -0.015217638574540615 + ], + [ + 0.016488390043377876, + 0.9952963864532705, + 0.09546357872985632, + -0.033577777445316315 + ], + [ + 0.013681519776582718, + -0.09569219980279152, + 0.9953169257618112, + 0.002377474447712302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080508, + -0.01505562388939739, + -0.015076237744900238, + -0.01509297825396061 + ], + [ + 0.01644305139780045, + 0.9951889932804014, + 0.09658429768039624, + -0.033538054674863815 + ], + [ + 0.013549569062888626, + -0.09681027150929357, + 0.9952106509479183, + 0.0024129918310791254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077761, + -0.015006444003669763, + -0.014957411122656871, + -0.014968306757509708 + ], + [ + 0.01639771088957787, + 0.9950803405497703, + 0.09770488478320176, + -0.03349833935499191 + ], + [ + 0.013417622074484829, + -0.09792821337521605, + 0.9951030022639781, + 0.0024484749883413315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.014957545003239278, + -0.014838490637516591, + -0.014843642711639404 + ], + [ + 0.016352364793419838, + 0.9949704274570023, + 0.09882534601150683, + -0.03345862403512001 + ], + [ + 0.013285674154758453, + -0.09904605442558337, + 0.9949941561749085, + 0.0024839742109179497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.014908930362715477, + -0.01471948002678097, + -0.014718964695930481 + ], + [ + 0.01630701683461666, + 0.9948592546438909, + 0.09994567625663299, + -0.033418912440538406 + ], + [ + 0.01315372809767723, + -0.10016376660967259, + 0.994883996064884, + 0.002519437810406089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.01486059665391196, + -0.01460037835773363, + -0.014594272710382938 + ], + [ + 0.016261659562587738, + 0.9947468212809163, + 0.10106588148847236, + -0.033379215747117996 + ], + [ + 0.013021781109273434, + -0.1012813710353904, + 0.9947725791821412, + 0.002554867183789611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.014812543645262128, + -0.01448118887416049, + -0.014469589106738567 + ], + [ + 0.016216300427913666, + 0.9946331295102195, + 0.10218594552358727, + -0.03333951160311699 + ], + [ + 0.012889835983514786, + -0.10239885152222962, + 0.9946599076160575, + 0.002590312622487545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.014764773946747507, + -0.014361907688672362, + -0.014344893395900726 + ], + [ + 0.016170937567949295, + 0.9945181770001966, + 0.1033058854063078, + -0.03329981490969658 + ], + [ + 0.012757889926433563, + -0.1035162096642159, + 0.9945459209355099, + 0.0026257229037582874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.014717288534155229, + -0.01424254291880323, + -0.014220181852579117 + ], + [ + 0.016125569120049477, + 0.9944019659163822, + 0.10442568495632343, + -0.03326013311743736 + ], + [ + 0.012625950388610363, + -0.10463344460971659, + 0.9944306793339507, + 0.002661098027601838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.014670086837494656, + -0.014123086491459927, + -0.014095475897192955 + ], + [ + 0.016080200672149658, + 0.9942844964404501, + 0.10554534276186253, + -0.03322044387459755 + ], + [ + 0.012494007125496864, + -0.1057505549496086, + 0.994314182940501, + 0.002696489216759801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266177, + -0.014623168231044393, + -0.014003544423865259, + -0.013970756903290749 + ], + [ + 0.016034824773669246, + 0.9941657076605487, + 0.1066648639034094, + -0.033180758357048035 + ], + [ + 0.012362065725028518, + -0.10686754665350102, + 0.9941964308527154, + 0.002731845946982503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.014576531260978031, + -0.013883915092283528, + -0.013846025802195072 + ], + [ + 0.01598944701254368, + 0.9940457188209594, + 0.10778425605112286, + -0.03314109146595001 + ], + [ + 0.012230126187205315, + -0.10798440997928097, + 0.9940773641589125, + 0.0027671675197780132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.014530177514316883, + -0.013764202001080764, + -0.013721304014325142 + ], + [ + 0.015944061800837517, + 0.993924472620003, + 0.10890349852547272, + -0.03310141712427139 + ], + [ + 0.012098189443349838, + -0.10910114065083612, + 0.9939570435807282, + 0.002802504925057292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.014484110150187905, + -0.01364439759841817, + -0.013596566393971443 + ], + [ + 0.015898674726486206, + 0.9938019086703898, + 0.1100225925209462, + -0.03306175768375397 + ], + [ + 0.011966248974204063, + -0.11021773248974366, + 0.9938354097359244, + 0.0028378069400787354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.014438322590880865, + -0.013524509871979494, + -0.0134718157351017 + ], + [ + 0.015853283926844597, + 0.9936781451494304, + 0.11114155347707372, + -0.033022090792655945 + ], + [ + 0.011834311299026012, + -0.11133420831516985, + 0.9937125797082415, + 0.0028730749618262053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.014392824446903346, + -0.01340453878962295, + -0.013347070664167404 + ], + [ + 0.01580789126455784, + 0.9935530647676185, + 0.1122603593106919, + -0.03298243135213852 + ], + [ + 0.011702376417815685, + -0.11245054604601011, + 0.9935884361558339, + 0.0029083590488880873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.0143476049230001, + -0.013284482307938496, + -0.013222313486039639 + ], + [ + 0.015762489289045334, + 0.9934267862211563, + 0.11337902203617406, + -0.03294278681278229 + ], + [ + 0.011570443399250507, + -0.11356674039264952, + 0.9934629797761424, + 0.0029436079785227776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.014302671524271945, + -0.013164341981388626, + -0.013097543269395828 + ], + [ + 0.01571708545088768, + 0.9932991890244097, + 0.11449754142845506, + -0.032903142273426056 + ], + [ + 0.01143851038068533, + -0.11468281824407835, + 0.9933363270327729, + 0.0029788215178996325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.014258022538764983, + -0.01304411802471222, + -0.012972780503332615 + ], + [ + 0.015671677887439728, + 0.9931703355889138, + 0.1156159025494975, + -0.032863494008779526 + ], + [ + 0.011306577362120152, + -0.11579873870870515, + 0.9932083633897216, + 0.0030140515882521868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.014213659939025554, + -0.012923811197682405, + -0.012848001904785633 + ], + [ + 0.015626268461346626, + 0.9930402839631048, + 0.11673412020645686, + -0.03282385692000389 + ], + [ + 0.011174646206200123, + -0.11691452229462321, + 0.9930790857401345, + 0.003049246734008193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.014169576487109797, + -0.012803420875942108, + -0.012723231688141823 + ], + [ + 0.015580850653350353, + 0.9929089147646533, + 0.11785218640974413, + -0.03278421238064766 + ], + [ + 0.011042715050280094, + -0.11803018153424247, + 0.9929486126504584, + 0.003084458177909255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.014125783223031626, + -0.012682950128691793, + -0.012598427943885326 + ], + [ + 0.015535433776676655, + 0.9927762899050716, + 0.11897009011120774, + -0.032744597643613815 + ], + [ + 0.01091078668832779, + -0.11914568621002848, + 0.9928168280491542, + 0.003119582310318947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.014082272763728402, + -0.012562399247995577, + -0.012473632581532001 + ], + [ + 0.015490010380744934, + 0.9926424084688646, + 0.12008783726838695, + -0.032704971730709076 + ], + [ + 0.010778860189020634, + -0.12026104376324782, + 0.992683791043329, + 0.0031547232065349817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.014039044102252105, + -0.012441763824431247, + -0.01234884187579155 + ], + [ + 0.015444581396877766, + 0.9925072695098451, + 0.12120543383414477, + -0.03266534209251404 + ], + [ + 0.010646932758390903, + -0.12137625841001258, + 0.9925494406158515, + 0.0031898815650492907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.013996106005745529, + -0.01232104944520405, + -0.012224039994180202 + ], + [ + 0.015399151481688023, + 0.9923708749165898, + 0.12232286735185559, + -0.032625727355480194 + ], + [ + 0.010515006259083748, + -0.12249133584017884, + 0.9924138964236686, + 0.0032250036019831896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137575, + -0.013953449826609713, + -0.012200252409368612, + -0.012099221348762512 + ], + [ + 0.01535371504724026, + 0.9922332231649227, + 0.12344014745453463, + -0.03258611634373665 + ], + [ + 0.010383079759776594, + -0.12360626741354842, + 0.9922770390905966, + 0.0032600911799818277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716799, + -0.013911076666371395, + -0.012079379000476727, + -0.011974393390119076 + ], + [ + 0.015308273024857048, + 0.9920943155896278, + 0.1245572653694523, + -0.0325465202331543 + ], + [ + 0.010251156985759737, + -0.12472103680551498, + 0.9921388710922809, + 0.003295142436400056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.999832332134247, + -0.0138689916763387, + -0.011958427667547409, + -0.011849569156765938 + ], + [ + 0.01526283007115126, + 0.9919541523889568, + 0.12567421968726702, + -0.03250692039728165 + ], + [ + 0.010119237005710604, + -0.12583566850191583, + 0.9919995091891208, + 0.0033302109222859144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875246, + -0.013827194645690459, + -0.011837395078415034, + -0.011724735610187054 + ], + [ + 0.015217384323477749, + 0.9918127343519522, + 0.12679100532048715, + -0.032467320561409 + ], + [ + 0.009987314231693746, + -0.12695013139796155, + 0.9918588375574829, + 0.003365244483575225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.01378567926975826, + -0.011716280687533992, + -0.01159988809376955 + ], + [ + 0.015171930193901062, + 0.991670059319148, + 0.12790763557321758, + -0.03242773562669754 + ], + [ + 0.009855390526354313, + -0.12806445331996041, + 0.9917168516685273, + 0.0034002421889454126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.013744451842280842, + -0.011595093515311693, + -0.011475041508674622 + ], + [ + 0.015126475133001804, + 0.9915260704154972, + 0.12902408844341542, + -0.032388150691986084 + ], + [ + 0.009723471477627754, + -0.12917862602975813, + 0.9915736734927084, + 0.003435257589444518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.013703508474280153, + -0.0114738296257843, + -0.01135019026696682 + ], + [ + 0.015081014484167099, + 0.9913808855232457, + 0.13014038157087757, + -0.03234856575727463 + ], + [ + 0.00959155522286892, + -0.13029262907532008, + 0.9914291855298492, + 0.003470237134024501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.013662852344351887, + -0.011352488114173004, + -0.011225338093936443 + ], + [ + 0.01503554917871952, + 0.9912343865866918, + 0.131256498046261, + -0.03230898454785347 + ], + [ + 0.00945963803678751, + -0.1314064815721635, + 0.9912834449870703, + 0.0035052327439188957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.013622482504308456, + -0.011231070236265414, + -0.01110047847032547 + ], + [ + 0.014990082010626793, + 0.9910866920464955, + 0.13237245209052473, + -0.03226940333843231 + ], + [ + 0.00932772271335125, + -0.1325201686861222, + 0.9911363938162685, + 0.003540193662047386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025454, + -0.013582399073828444, + -0.011109576478064388, + -0.010975601151585579 + ], + [ + 0.014944609254598621, + 0.9909376851111056, + 0.13348821918688614, + -0.032229840755462646 + ], + [ + 0.009195807389914991, + -0.13363370477018405, + 0.9909881504033365, + 0.0035751189570873976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.01354260064367755, + -0.010988005180158682, + -0.010850711725652218 + ], + [ + 0.014899132773280144, + 0.9907874805095678, + 0.13460383586247784, + -0.032190289348363876 + ], + [ + 0.00906389206647873, + -0.13474707987695408, + 0.9908385954749351, + 0.003610010026022792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.013503090687657539, + -0.010866364946842906, + -0.010725829750299454 + ], + [ + 0.014853653497993946, + 0.9906359651846426, + 0.13571925529807824, + -0.03215072676539421 + ], + [ + 0.008931982330977917, + -0.1358602740367294, + 0.9906877323078418, + 0.003644916694611311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.013463866276734062, + -0.010744646307783082, + -0.010600936599075794 + ], + [ + 0.0148081686347723, + 0.9904832550601853, + 0.1368345069313764, + -0.032111167907714844 + ], + [ + 0.008800070732831955, + -0.13697331668720247, + 0.9905356767749046, + 0.0036797886714339256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.01342492782923976, + -0.010622853574769013, + -0.01047604437917471 + ], + [ + 0.014762679114937782, + 0.9903292315649235, + 0.1379495767493913, + -0.032071616500616074 + ], + [ + 0.008668159134685993, + -0.138086186471838, + 0.9903823115127861, + 0.0037146771792322397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.01338627805664454, + -0.010500988624512483, + -0.010351146571338177 + ], + [ + 0.014717187732458115, + 0.9901739549286156, + 0.13906446594242983, + -0.0320320688188076 + ], + [ + 0.008536250330507755, + -0.1391988817911013, + 0.9902276367208824, + 0.003749529831111431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.013347915394423697, + -0.010379050713202916, + -0.010226231068372726 + ], + [ + 0.014671692624688148, + 0.9900174253702414, + 0.14017917310449085, + -0.03199252858757973 + ], + [ + 0.008404341526329517, + -0.14031141961087068, + 0.990071770370107, + 0.003784347092732787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.013309835886576778, + -0.010257041980012666, + -0.010101323015987873 + ], + [ + 0.014626190066337585, + 0.9898596411857631, + 0.14129370783875167, + -0.03195299208164215 + ], + [ + 0.008272436447441578, + -0.14142378552933954, + 0.9899145938912415, + 0.003819182049483061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.01327204762495848, + -0.010134960521077613, + -0.009976383298635483 + ], + [ + 0.014580687507987022, + 0.9897006644917792, + 0.1424080607175628, + -0.03191347420215607 + ], + [ + 0.008140530437231064, + -0.14253597726645253, + 0.9897561681107264, + 0.0038539294619113207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.013234546975695368, + -0.010012806645713775, + -0.009851466864347458 + ], + [ + 0.014535179361701012, + 0.9895403761702732, + 0.14352222075131216, + -0.03187393769621849 + ], + [ + 0.00800862442702055, + -0.14364798669473686, + 0.9895964338784786, + 0.0038887455593794584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.013197329814813898, + -0.00989058339760794, + -0.00972652155905962 + ], + [ + 0.014489665627479553, + 0.9893788358022294, + 0.14463619312992965, + -0.031834423542022705 + ], + [ + 0.007876722142100334, + -0.14475982450795188, + 0.9894354497626356, + 0.003923473414033651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.013160402735206396, + -0.009768286737417569, + -0.009601579047739506 + ], + [ + 0.014444148167967796, + 0.9892159842882686, + 0.14574996959389702, + -0.03179490193724632 + ], + [ + 0.007744817063212395, + -0.14587148930071378, + 0.989273215939511, + 0.003958219662308693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.013123763452136684, + -0.009645925244298005, + -0.00947662815451622 + ], + [ + 0.014398629777133465, + 0.9890519398552167, + 0.146863566049664, + -0.031755395233631134 + ], + [ + 0.00761291803792119, + -0.14698297600174304, + 0.989109733248618, + 0.003992929123342037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.013087411973347129, + -0.009523489452085653, + -0.009351678192615509 + ], + [ + 0.014353104867041111, + 0.9888866433873216, + 0.14797697430108442, + -0.03171588480472565 + ], + [ + 0.007481016218662262, + -0.14809427988869958, + 0.9889449419047667, + 0.004027655813843012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.013051346833522751, + -0.009400988552256323, + -0.009226719848811626 + ], + [ + 0.014307575300335884, + 0.9887200961085919, + 0.14909018744523456, + -0.03167637437582016 + ], + [ + 0.007349118590354919, + -0.14920540091471207, + 0.9887789024199337, + 0.004062346648424864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.01301556947576685, + -0.009278415700043884, + -0.009101749397814274 + ], + [ + 0.014262041077017784, + 0.9885522975845378, + 0.15020320774354687, + -0.031636886298656464 + ], + [ + 0.00721721863374114, + -0.15031634500618887, + 0.9886116136477008, + 0.00409700209274888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.012980083327488874, + -0.009155779098466823, + -0.00897678080946207 + ], + [ + 0.014216506853699684, + 0.9883831887560607, + 0.15131602661197044, + -0.03159738704562187 + ], + [ + 0.007085323333740234, + -0.15142709991474626, + 0.9884430171563454, + 0.004131675697863102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.01294488358463302, + -0.009033075018988682, + -0.008851801045238972 + ], + [ + 0.014170965179800987, + 0.9882128884369435, + 0.15242865694086458, + -0.03155789524316788 + ], + [ + 0.00695342943072319, + -0.15253766762465, + 0.9882731731231811, + 0.004166313447058201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.012909970953384566, + -0.008910300740299443, + -0.008726806379854679 + ], + [ + 0.014125419780611992, + 0.9880412782914759, + 0.15354108290211962, + -0.03151841461658478 + ], + [ + 0.006821533665060997, + -0.15364805405848886, + 0.9881020803826549, + 0.004200915805995464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.012875349436149786, + -0.00878746127017805, + -0.008601821959018707 + ], + [ + 0.014079871587455273, + 0.9878684774498426, + 0.15465331581596695, + -0.03147893026471138 + ], + [ + 0.0066896406933665276, + -0.15475825231994816, + 0.9879297401526889, + 0.004235533531755209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.012841012159949896, + -0.008664553888812494, + -0.008476820774376392 + ], + [ + 0.014034316875040531, + 0.987694367270519, + 0.1557653414263372, + -0.03143945336341858 + ], + [ + 0.0065577467903494835, + -0.1558682553982936, + 0.9877560930336291, + 0.0042701177299022675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661867, + -0.012806969428193425, + -0.008541585281101084, + -0.008351809345185757 + ], + [ + 0.013988763093948368, + 0.9875190665098091, + 0.15687717314416355, + -0.031399987637996674 + ], + [ + 0.006425857078284027, + -0.15697806920078158, + 0.9875811984961622, + 0.004304666072130203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.012773211231382677, + -0.00841854927715516, + -0.008226804435253143 + ], + [ + 0.013943200930953026, + 0.9873424576043689, + 0.15798879096449983, + -0.03136052191257477 + ], + [ + 0.00629396690055728, + -0.15808768109751634, + 0.9874049982030226, + 0.0043392302468419075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.0127397398939038, + -0.008295449625170991, + -0.00810178555548191 + ], + [ + 0.013897635042667389, + 0.9871645990033061, + 0.1591002064134428, + -0.03132105991244316 + ], + [ + 0.0061620790511369705, + -0.15919711390699032, + 0.9872276090907754, + 0.004373759962618351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.012706559526549858, + -0.008172285689323303, + -0.007976753637194633 + ], + [ + 0.013852065429091454, + 0.9869855498098415, + 0.16021142761526086, + -0.03128160163760185 + ], + [ + 0.006030191667377949, + -0.16030634553520173, + 0.9870489139392994, + 0.004408254288136959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.012673670788328413, + -0.008049059972465153, + -0.007851730100810528 + ], + [ + 0.013806494884192944, + 0.9868051939426077, + 0.16132242686397705, + -0.03124215267598629 + ], + [ + 0.0058983066119253635, + -0.1614153670735132, + 0.9868689144065753, + 0.00444276537746191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.012641067825209336, + -0.007925769432085438, + -0.007726691663265228 + ], + [ + 0.013760915026068687, + 0.9866235883891192, + 0.16243322319110162, + -0.031202703714370728 + ], + [ + 0.005766421556472778, + -0.16252420903787726, + 0.9866877259303791, + 0.004477240610867739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.01260875631483932, + -0.0078024151728350736, + -0.007601641118526459 + ], + [ + 0.013715335167944431, + 0.9864407351819786, + 0.1635438060551636, + -0.03116326779127121 + ], + [ + 0.005634536035358906, + -0.16363284163742697, + 0.986505232795679, + 0.004511681385338306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372195, + -0.0125767349020159, + -0.007679000251012052, + -0.007476595230400562 + ], + [ + 0.013669752515852455, + 0.986256634580976, + 0.16465417405764865, + -0.031123826280236244 + ], + [ + 0.005502652842551471, + -0.16474127123756627, + 0.9863214944388397, + 0.004546138923615217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440493, + -0.01254500002707399, + -0.007555524429510549, + -0.007351537700742483 + ], + [ + 0.013624161481857303, + 0.9860712850230428, + 0.16576433493314513, + -0.031084392219781876 + ], + [ + 0.005370771978050471, + -0.16584949389658346, + 0.9861364508094453, + 0.004580561071634293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.012513555987765984, + -0.007431986183660149, + -0.007226469460874796 + ], + [ + 0.013578569516539574, + 0.9858846885755158, + 0.1668742781470016, + -0.031044969335198402 + ], + [ + 0.005238890647888184, + -0.16695751428034356, + 0.9859501616789418, + 0.004614946432411671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.012482401962864556, + -0.007308390572581994, + -0.007101407274603844 + ], + [ + 0.013532972894608974, + 0.9856968447651139, + 0.16798400595315222, + -0.03100554831326008 + ], + [ + 0.005107013508677483, + -0.16806533098875095, + 0.9857626272624774, + 0.004649349022656679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.012451536319531137, + -0.007184732512095614, + -0.006976329255849123 + ], + [ + 0.013487370684742928, + 0.9855077542167769, + 0.16909351512657816, + -0.030966127291321754 + ], + [ + 0.004975135438144207, + -0.16917294444727876, + 0.9855738474058889, + 0.004683717153966427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972435, + -0.012420961338688008, + -0.007061015785267114, + -0.006851242855191231 + ], + [ + 0.01344176568090916, + 0.9853173580482938, + 0.17020279598671162, + -0.030926717445254326 + ], + [ + 0.0048432592302560815, + -0.1702803413227534, + 0.9853837639234119, + 0.004718049429357052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.012390674843423844, + -0.006937238042745149, + -0.006726157385855913 + ], + [ + 0.013396155089139938, + 0.9851257729452068, + 0.171311872758442, + -0.030887307599186897 + ], + [ + 0.004711382556706667, + -0.17138753384342387, + 0.9851924350783119, + 0.004752398934215307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385805, + -0.012360679828099644, + -0.006813404172846033, + -0.006601059343665838 + ], + [ + 0.013350542634725574, + 0.9849329426275937, + 0.1724207230516297, + -0.030847903341054916 + ], + [ + 0.004579509142786265, + -0.17249451148706213, + 0.9849998629646638, + 0.004786713048815727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.01233097675628941, + -0.006689512847834848, + -0.006475950591266155 + ], + [ + 0.013304928317666054, + 0.9847388078785885, + 0.1735293388185135, + -0.030808506533503532 + ], + [ + 0.004447637125849724, + -0.17360126985282068, + 0.9848059875707463, + 0.004820991773158312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.012301560628949182, + -0.006565561599126381, + -0.006350851152092218 + ], + [ + 0.01325930468738079, + 0.9845434853095955, + 0.17463774466862725, + -0.030769111588597298 + ], + [ + 0.004315763711929321, + -0.17470781771252272, + 0.9846108678754218, + 0.004855287726968527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.01227243543217727, + -0.006441555054671659, + -0.0062257335521280766 + ], + [ + 0.013213680125772953, + 0.9843468600059592, + 0.175745907599249, + -0.03072972036898136 + ], + [ + 0.004183894023299217, + -0.17581415002073816, + 0.9844145048650338, + 0.0048895468935370445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.012243600964771355, + -0.0063174905542141, + -0.006100624334067106 + ], + [ + 0.013168049976229668, + 0.9841490470034473, + 0.17685385976895146, + -0.030690329149365425 + ], + [ + 0.004052024334669113, + -0.1769202585320144, + 0.9842168393007413, + 0.004923823289573193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.012215056506669522, + -0.006193367941656717, + -0.005975483451038599 + ], + [ + 0.013122417032718658, + 0.9839499310671953, + 0.1779615697441618, + -0.030650954693555832 + ], + [ + 0.003920153249055147, + -0.1780261485678786, + 0.9840179309063304, + 0.004958012606948614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.012186803281850888, + -0.00606919580470775, + -0.005850368645042181 + ], + [ + 0.01307678036391735, + 0.9837495700256654, + 0.1790690520245095, + -0.030611570924520493 + ], + [ + 0.0037882893811911345, + -0.17913182601831915, + 0.9838177783638552, + 0.00499227037653327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.012158840287987586, + -0.005944966311232382, + -0.0057252198457717896 + ], + [ + 0.01303113903850317, + 0.9835480232021081, + 0.18017631407730977, + -0.030572207644581795 + ], + [ + 0.0036564248148351908, + -0.1802372821973475, + 0.9836163834518756, + 0.005026441533118486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445864, + -0.012131169686273403, + -0.005820679206840877, + -0.0056000808253884315 + ], + [ + 0.012985494919121269, + 0.9833451735193764, + 0.1812833331981328, + -0.0305328331887722 + ], + [ + 0.0035245576873421678, + -0.18134250677925637, + 0.9834136873614769, + 0.005060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.012103787855751327, + -0.00569633894770762, + -0.0054749250411987305 + ], + [ + 0.012939845211803913, + 0.9831410803254949, + 0.18239011679280417, + -0.03049347549676895 + ], + [ + 0.0033926935866475105, + -0.18244751080941307, + 0.9832097486143762, + 0.005094779655337334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071535, + -0.012076698271039112, + -0.005571947950519154, + -0.0053497604094445705 + ], + [ + 0.012894193641841415, + 0.9829357439010671, + 0.18349666346710353, + -0.030454125255346298 + ], + [ + 0.0032608332112431535, + -0.1835522892500682, + 0.9830045682362868, + 0.005128896329551935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.012049898316286018, + -0.005447501593269236, + -0.005224600899964571 + ], + [ + 0.012848534621298313, + 0.9827291633317565, + 0.1846029772854855, + -0.030414769425988197 + ], + [ + 0.0031289716716855764, + -0.1846568334017571, + 0.9827980870540441, + 0.00516302976757288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.012023389100739162, + -0.005323004402904893, + -0.005099425092339516 + ], + [ + 0.012802873738110065, + 0.9825213400858296, + 0.1857090513934515, + -0.030375419184565544 + ], + [ + 0.0029971131589263678, + -0.1857611526817787, + 0.9825903639479341, + 0.005197128746658564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.011997174235777867, + -0.005198453838102094, + -0.004974259529262781 + ], + [ + 0.012757210060954094, + 0.9823122744485737, + 0.18681488439778932, + -0.03033607266843319 + ], + [ + 0.0028652544133365154, + -0.18686524205577446, + 0.9823813999605544, + 0.005231242161244154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.011971244262490535, + -0.005073850423507838, + -0.0048490785993635654 + ], + [ + 0.01271153800189495, + 0.9821019663020258, + 0.1879204767237574, + -0.030296729877591133 + ], + [ + 0.0027333965990692377, + -0.18796909262986666, + 0.9821711359479839, + 0.005265321582555771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833803, + -0.01194561067530411, + -0.004949199093076611, + -0.004723886493593454 + ], + [ + 0.012665865942835811, + 0.9818904163354183, + 0.18902582515982438, + -0.030257396399974823 + ], + [ + 0.0026015420444309716, + -0.18907270674406934, + 0.9819596323867837, + 0.00529936607927084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.011920264918881915, + -0.004824496268135607, + -0.004598680417984724 + ], + [ + 0.012620186433196068, + 0.9816776240211316, + 0.19013093194828137, + -0.030218077823519707 + ], + [ + 0.00246968911960721, + -0.19017609754516251, + 0.9817468862723933, + 0.0053333742544054985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.011895214616584387, + -0.0046997386445987764, + -0.004473483189940453 + ], + [ + 0.012574505992233753, + 0.9814635904603126, + 0.19123579206104335, + -0.030178751796483994 + ], + [ + 0.002337831538170576, + -0.19127924909731428, + 0.9815329011106421, + 0.005367399659007788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.011870455622373582, + -0.0045749369869873295, + -0.0043482729233801365 + ], + [ + 0.012528822757303715, + 0.9812483147077274, + 0.19234040955562604, + -0.030139435082674026 + ], + [ + 0.002205980708822608, + -0.19238215951560342, + 0.9813176161583727, + 0.005401390139013529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.011845985920711911, + -0.0044500841487578845, + -0.004223067779093981 + ], + [ + 0.012483133003115654, + 0.9810317410057651, + 0.19344476068504787, + -0.030100110918283463 + ], + [ + 0.00207412987947464, + -0.19348482777051382, + 0.9811010926992753, + 0.005435396451503038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.011821809458179849, + -0.0043251846076458045, + -0.004097846336662769 + ], + [ + 0.012437441386282444, + 0.9808139842264437, + 0.19454887780405294, + -0.030060801655054092 + ], + [ + 0.001942281611263752, + -0.19458725002864452, + 0.9808832704115121, + 0.005469367373734713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874758, + -0.011797923950118368, + -0.004200236646051277, + -0.003972618840634823 + ], + [ + 0.012391743250191215, + 0.9805949284539889, + 0.19565273291111504, + -0.03002149611711502 + ], + [ + 0.0018104347400367264, + -0.19568944787060955, + 0.9806642665723844, + 0.005503304302692413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525027, + -0.011774327094542118, + -0.00407523864956192, + -0.00384739157743752 + ], + [ + 0.012346039526164535, + 0.9803746905691054, + 0.19675634953457455, + -0.0299821924418211 + ], + [ + 0.0016785872867330913, + -0.1967913913513983, + 0.9804439656817561, + 0.005537256132811308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.011751028019384584, + -0.003950193328387417, + -0.0037221559323370457 + ], + [ + 0.012300335802137852, + 0.9801531559918193, + 0.19785969397831613, + -0.029942896217107773 + ], + [ + 0.001546739600598812, + -0.19789307707295048, + 0.9802223684657407, + 0.005571173503994942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.999923884868622, + -0.011728017440838638, + -0.0038251003189645493, + -0.0035969058517366648 + ], + [ + 0.012254626490175727, + 0.9799304394514172, + 0.19896279910020606, + -0.029903607442975044 + ], + [ + 0.00141489296220243, + -0.19899453426103636, + 0.9799995904554663, + 0.005605055019259453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.011705301356164254, + -0.0036999674764844523, + -0.0034716438967734575 + ], + [ + 0.012208915315568447, + 0.9797064260094378, + 0.200065632764978, + -0.029864327982068062 + ], + [ + 0.0012830534251406789, + -0.2000957307781492, + 0.979775516676844, + 0.0056389025412499905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.01168287469799494, + -0.003574784581681126, + -0.003346386831253767 + ], + [ + 0.012163196690380573, + 0.979481172735053, + 0.20116821254883677, + -0.029825039207935333 + ], + [ + 0.001151211210526526, + -0.20119668782346775, + 0.9795502033060814, + 0.005672766361385584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.011660743479480963, + -0.0034495553826702887, + -0.003221118589863181 + ], + [ + 0.012117477133870125, + 0.9792547396299455, + 0.20227054359169663, + -0.029785774648189545 + ], + [ + 0.001019368413835764, + -0.2022973793451958, + 0.9793235951794216, + 0.00570659339427948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.011638903247655976, + -0.00332428331228845, + -0.0030958554707467556 + ], + [ + 0.012071752920746803, + 0.9790270097166311, + 0.20337260244359348, + -0.029746495187282562 + ], + [ + 0.0008875289931893349, + -0.20339782304354956, + 0.9790957492980303, + 0.005740438122302294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.011617352773324364, + -0.0031989662751697534, + -0.002970578381791711 + ], + [ + 0.01202602218836546, + 0.9787980408636638, + 0.20447440324295796, + -0.029707223176956177 + ], + [ + 0.0007556906784884632, + -0.20449802295935965, + 0.9788666646211506, + 0.005774248391389847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937563, + -0.011596097098521338, + -0.0030736079910049533, + -0.0028452908154577017 + ], + [ + 0.011980288662016395, + 0.9785678368580435, + 0.20557593011236572, + -0.029667962342500687 + ], + [ + 0.00062385544879362, + -0.20559795958824378, + 0.9786363457617349, + 0.00580802233889699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011575134371974351, + -0.002948204994864997, + -0.0027200093027204275 + ], + [ + 0.011934553273022175, + 0.9783363940956883, + 0.20667719796467912, + -0.029628703370690346 + ], + [ + 0.0004920198116451502, + -0.20669763742589972, + 0.9784047302744798, + 0.005841811653226614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01155446247988784, + -0.0028227588976287906, + -0.0025947140529751778 + ], + [ + 0.01188881229609251, + 0.9781037133084469, + 0.20777820359797164, + -0.029589446261525154 + ], + [ + 0.0003601855132728815, + -0.20779705993372047, + 0.9781718785657986, + 0.005875567905604839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.011534084642080283, + -0.002697269071186408, + -0.0024694062303751707 + ], + [ + 0.011843066662549973, + 0.9778697970078971, + 0.2088789365753551, + -0.029550202190876007 + ], + [ + 0.00022835057461634278, + -0.2088962275307538, + 0.9779377904686842, + 0.005909287370741367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749026, + -0.011513999082647731, + -0.0025717396365521773, + -0.0023441051598638296 + ], + [ + 0.01179731730371714, + 0.9776346437459407, + 0.20997940274938187, + -0.029510950669646263 + ], + [ + 9.651906293584037e-05, + -0.20999512098262366, + 0.977702409261146, + 0.005943024531006813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.01149420689185074, + -0.002446170801963024, + -0.0022187898866832256 + ], + [ + 0.011751565150916576, + 0.9773982551699797, + 0.21107959530687995, + -0.029471710324287415 + ], + [ + -3.530949470587075e-05, + -0.2110937548079646, + 0.977465792694765, + 0.005976726301014423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011474706217532969, + -0.002320559171483425, + -0.00209346623159945 + ], + [ + 0.011705807410180569, + 0.9771605724107825, + 0.21217950393588586, + -0.029432479292154312 + ], + [ + -0.00016713862714823335, + -0.21219212942528948, + 0.977227940601491, + 0.006010391749441624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011455499449311726, + -0.0021949074931100656, + -0.001968147000297904 + ], + [ + 0.011660046875476837, + 0.9769217119474121, + 0.21327915408242035, + -0.02939324453473091 + ], + [ + -0.00029896647902205586, + -0.21329024525143794, + 0.9769888528069162, + 0.006044073961675167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011436585628189326, + -0.0020692165191201974, + -0.0018428117036819458 + ], + [ + 0.011614282615482807, + 0.9766816157792148, + 0.21437853187904124, + -0.029354017227888107 + ], + [ + -0.00043079277384094894, + -0.21438808460905776, + 0.9767484722158452, + 0.006077722180634737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.011417964987618838, + -0.001943486067421499, + -0.0017174679087474942 + ], + [ + 0.011568514630198479, + 0.9764402277800994, + 0.21547761597785403, + -0.029314806684851646 + ], + [ + -0.0005626180209219456, + -0.21548565504126616, + 0.9765068583219587, + 0.00611133361235261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071413, + -0.011399636114317479, + -0.0018177148795772283, + -0.0015921269077807665 + ], + [ + 0.011522739194333555, + 0.9761976625371118, + 0.21657643943550955, + -0.02927558310329914 + ], + [ + -0.0006944435881450773, + -0.21658294958682275, + 0.9762639513544458, + 0.006144962273538113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.011381602731739465, + -0.0016919079778135128, + -0.0014667791547253728 + ], + [ + 0.011476964689791203, + 0.9759538066101674, + 0.21767496449711796, + -0.02923637442290783 + ], + [ + -0.0008262660703621805, + -0.21767998516883497, + 0.9760198699254001, + 0.006178554613143206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.011363860352901335, + -0.001566064827288577, + -0.0013414137065410614 + ], + [ + 0.011431182734668255, + 0.9757087722177413, + 0.2187732334961335, + -0.029197171330451965 + ], + [ + -0.0009580852347426116, + -0.2187767455690649, + 0.9757744951008325, + 0.0062121134251356125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.011346411323624189, + -0.0014401807345725685, + -0.0012160565238445997 + ], + [ + 0.011385397985577583, + 0.9754624478284828, + 0.2198712012058379, + -0.029157966375350952 + ], + [ + -0.001089907018467784, + -0.21987321837688803, + 0.9755278299653138, + 0.006245688069611788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9999349713325503, + -0.011329257058602495, + -0.001314262190998595, + -0.0010906794341281056 + ], + [ + 0.011339609511196615, + 0.9752149478895624, + 0.22096890118626134, + -0.029118770733475685 + ], + [ + -0.0012217252515256407, + -0.22096943353807452, + 0.9752799898484474, + 0.006279227323830128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.011312395806953616, + -0.0011883092308326026, + -0.0009653015877120197 + ], + [ + 0.011293817311525345, + 0.9749661577345615, + 0.22206630059746776, + -0.029079582542181015 + ], + [ + -0.0013535405742004514, + -0.22206535820906886, + 0.9750308600494638, + 0.006312731187790632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.011295829430613307, + -0.0010623190899639527, + -0.0008399263024330139 + ], + [ + 0.011248022317886353, + 0.9747161354396384, + 0.2231634128537709, + -0.029040392488241196 + ], + [ + -0.0014853563625365496, + -0.22316099442122386, + 0.9747804399833654, + 0.006346250884234905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068667, + -0.011279553046158446, + -0.0009362927831613882, + -0.0007145312847569585 + ], + [ + 0.011202219873666765, + 0.9744648804027966, + 0.22426024017925625, + -0.029001209884881973 + ], + [ + -0.001617170870304108, + -0.22425637069378476, + 0.9745288453394594, + 0.006379737984389067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.011263573345287107, + -0.0008102312090657902, + -0.0005891278269700706 + ], + [ + 0.0111564164981246, + 0.9742124506095394, + 0.22535679630196265, + -0.028962036594748497 + ], + [ + -0.0017489854944869876, + -0.22535145921029054, + 0.9742759601032559, + 0.0064131878316402435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.011247885764957881, + -0.0006841341389536495, + -0.00046373638906516135 + ], + [ + 0.011110605672001839, + 0.9739587315326514, + 0.22645304787841306, + -0.02892286144196987 + ], + [ + -0.0018807994201779366, + -0.22644626455945752, + 0.9740218446198459, + 0.006446653511375189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.011232493498403369, + -0.0005580084317779923, + -0.0003383270523045212 + ], + [ + 0.011064795777201653, + 0.9737037826116912, + 0.22754900317355106, + -0.028883695602416992 + ], + [ + -0.0020126078743487597, + -0.22754079076179945, + 0.9737664977757, + 0.006480084266513586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.011217393817019469, + -0.00043184686808096534, + -0.0002129242493538186 + ], + [ + 0.01101897843182087, + 0.973447601812456, + 0.22864466981273038, + -0.028844516724348068 + ], + [ + -0.00214441679418087, + -0.22863501933034228, + 0.9735098627404302, + 0.006513532716780901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.999937176704407, + -0.011202587023815703, + -0.00030565265521387465, + -8.749047265155241e-05 + ], + [ + 0.010973156429827215, + 0.9731901909037801, + 0.22974004101361395, + -0.02880537137389183 + ], + [ + -0.0022762245498597626, + -0.2297289658550403, + 0.9732519969811009, + 0.006546891760081053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.011188061164453785, + -0.00017928398682440423, + 3.805300366366282e-05 + ], + [ + 0.010927286930382252, + 0.9729315420379411, + 0.23083514598410534, + -0.028766168281435966 + ], + [ + -0.0024081668816506863, + -0.23082264051132095, + 0.9729928359948448, + 0.006580328103154898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/tilt_up/transforms.json b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..59641b37cc6f22d01b21e634a2df6a65be389488 --- /dev/null +++ b/dynpose_eval/camera_controls/343dc11a-8bdd-4cb6-8482-fc412e389a0c/tilt_up/transforms.json @@ -0,0 +1,8413 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 240, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.015695907990448e-05, + 3.814954834524542e-05, + 3.0417546440730803e-05 + ], + [ + 6.0163834859849885e-05, + 1.0, + -0.00018020508287008852, + -0.0001790164242265746 + ], + [ + -3.813870716840029e-05, + 0.0001802073820726946, + 1.0, + 4.047915354021825e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999794363975525, + -0.003261571394817601, + -0.0055257840022218795, + -0.005579644348472357 + ], + [ + 0.0032319806050509214, + 0.9999804284135404, + -0.0053555169545346, + -0.004676752258092165 + ], + [ + 0.00554314348846674, + 0.005337547237989002, + 0.9999703749064743, + -0.0007416859152726829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999210238456726, + -0.005402809436415977, + -0.01134849897866927, + -0.01118343137204647 + ], + [ + 0.00532000046223402, + 0.9999590763700799, + -0.0073144379029502155, + -0.006022309418767691 + ], + [ + 0.011387553066015244, + 0.007253486266732801, + 0.9999088438568172, + -0.0023136166855692863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999870836734772, + -0.010434383712369965, + -0.012223213969682258, + -0.013045857660472393 + ], + [ + 0.010184912011027338, + 0.9997421218365614, + -0.02029717661865529, + -0.01793772540986538 + ], + [ + 0.012431849725544456, + 0.02017006479022461, + 0.9997192936140427, + -0.00023266227799467742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997479915618896, + -0.014436456290657415, + -0.017191026750515034, + -0.018272200599312782 + ], + [ + 0.013956792652606964, + 0.9995187845452039, + -0.027702506545054437, + -0.02461937814950943 + ], + [ + 0.01758267916738987, + 0.027455594545801265, + 0.9994683675093045, + -0.0006188844563439488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995636940002444, + -0.01881430969914472, + -0.02276826181185681, + -0.02411813661456108 + ], + [ + 0.017997808754444126, + 0.9992058168493106, + -0.035550012629221424, + -0.03177720680832863 + ], + [ + 0.02341903001070023, + 0.03512472302372303, + 0.9991084857121553, + -0.0011674959678202868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9993673563003542, + -0.022672740910705, + -0.027400738021757062, + -0.029013922438025475 + ], + [ + 0.021495414897799495, + 0.9988641790931412, + -0.04252340268699396, + -0.03801552578806877 + ], + [ + 0.028333738446235664, + 0.041907513530743526, + 0.9987196890196787, + -0.0016737735131755471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993720650672913, + -0.022651386658527797, + -0.02724656879950286, + -0.02888999693095684 + ], + [ + 0.02145053632557392, + 0.9988193849071457, + -0.043586338325688236, + -0.03797529637813568 + ], + [ + 0.028201691806316376, + 0.0429745124644573, + 0.9986780406629722, + -0.0016363204922527075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993767738342285, + -0.022629723750392797, + -0.027092475651484628, + -0.028766075149178505 + ], + [ + 0.021405648440122604, + 0.9987733413724957, + -0.04464922584594367, + -0.03793506696820259 + ], + [ + 0.028069641441106796, + 0.044041463544178004, + 0.9986353127518086, + -0.0015988508239388466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999381422996521, + -0.02260775979198934, + -0.026938460855954978, + -0.028642138466238976 + ], + [ + 0.021360762417316437, + 0.9987262272739718, + -0.045712072868565566, + -0.0378948412835598 + ], + [ + 0.027937596663832664, + 0.04510837202548242, + 0.9985913860715505, + -0.0015614164294674993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993860721588135, + -0.022585481930062472, + -0.026784528745198717, + -0.0285181924700737 + ], + [ + 0.021315868943929672, + 0.998677983035027, + -0.046774877735818225, + -0.0378546267747879 + ], + [ + 0.027805553749203682, + 0.04617522224967683, + 0.9985463204292611, + -0.0015240169595927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993906617164612, + -0.022562901451837543, + -0.026630675966419735, + -0.02839423157274723 + ], + [ + 0.02127097174525261, + 0.9986286085935092, + -0.04783764669703518, + -0.037814415991306305 + ], + [ + 0.02767351269721985, + 0.04724203463384687, + 0.9985000560465129, + -0.0014866527635604143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993952512741089, + -0.0225400147529493, + -0.02647690117616657, + -0.02827027626335621 + ], + [ + 0.021226070821285248, + 0.998578104296597, + -0.048900352476423464, + -0.037774208933115005 + ], + [ + 0.027541467919945717, + 0.04830878247519029, + 0.9984526528870912, + -0.0014492718037217855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993998408317566, + -0.022516818221753162, + -0.02632320304720016, + -0.02814630977809429 + ], + [ + 0.02118116244673729, + 0.9985264699173831, + -0.04996301622356697, + -0.037734001874923706 + ], + [ + 0.027409421280026436, + 0.04937547200906507, + 0.9984041109511553, + -0.001411925652064383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994044303894043, + -0.02249331766575465, + -0.026169587575401537, + -0.028022347018122673 + ], + [ + 0.021136252209544182, + 0.9984736459345614, + -0.051025632098740364, + -0.037693802267313004 + ], + [ + 0.027277378365397453, + 0.05044211319537634, + 0.9983544301503899, + -0.0013745634350925684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994089603424074, + -0.022469513238270514, + -0.026016055236215377, + -0.02789836935698986 + ], + [ + 0.02109134010970593, + 0.9984197516383667, + -0.05208819693927219, + -0.0376536026597023 + ], + [ + 0.027145339176058776, + 0.05150870011491178, + 0.9983035509970423, + -0.0013372359098866582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994134902954104, + -0.02244540316564115, + -0.02586260281277508, + -0.027774380519986153 + ], + [ + 0.021046424284577373, + 0.9983646677503651, + -0.05315071510079955, + -0.037613414227962494 + ], + [ + 0.027013299986720092, + 0.052575224952132585, + 0.9982515332816774, + -0.0012999436585232615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994180202484131, + -0.022420980175788474, + -0.025709232787448896, + -0.02765039913356304 + ], + [ + 0.02100149728357792, + 0.9983085137632145, + -0.05421317250779666, + -0.03757322579622269 + ], + [ + 0.026881258934736252, + 0.053641686492704115, + 0.9981983770914592, + -0.0012626346433535218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994224905967715, + -0.022396257417770103, + -0.025555943546350254, + -0.027526382356882095 + ], + [ + 0.02095657214522362, + 0.9982511701932829, + -0.05527558442868385, + -0.03753305599093437 + ], + [ + 0.026749217882752425, + 0.05470809352096511, + 0.9981440227014462, + -0.0012254121247678995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994269609451296, + -0.022371227702457468, + -0.02540274129377861, + -0.027402391657233238 + ], + [ + 0.020911641418933872, + 0.9981927563188755, + -0.056337948222920826, + -0.03749287128448486 + ], + [ + 0.02661718241870404, + 0.05577444959118194, + 0.9980885296828489, + -0.0011881223181262612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994313716888428, + -0.022345894794908873, + -0.02524962084792605, + -0.027278367429971695 + ], + [ + 0.02086670882999897, + 0.9981331533086198, + -0.057400245376467596, + -0.03745270520448685 + ], + [ + 0.02648514322936535, + 0.056840731141953905, + 0.998031898567612, + -0.0011509186588227749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994358420372009, + -0.022320253296644214, + -0.025096584673786046, + -0.02715435065329075 + ], + [ + 0.020821768790483475, + 0.998072420575814, + -0.05846248703761384, + -0.03741253539919853 + ], + [ + 0.026353105902671814, + 0.057906946761866654, + 0.997974069626834, + -0.001113698584958911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994402527809143, + -0.022294308901447624, + -0.024943631266915345, + -0.02703033946454525 + ], + [ + 0.02077682688832283, + 0.9980106179291838, + -0.05952466599364779, + -0.03737236186861992 + ], + [ + 0.02622106857597828, + 0.05897309791359019, + 0.9979151621214133, + -0.001076461630873382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994446039199829, + -0.022268061849655168, + -0.02479076482529475, + -0.026906296610832214 + ], + [ + 0.020731879398226738, + 0.9979476259785143, + -0.060586789409725166, + -0.037332210689783096 + ], + [ + 0.026089034974575043, + 0.060039184300087395, + 0.9978550568643364, + -0.0010393117554485798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994490146636965, + -0.022241506665696697, + -0.024637984107150252, + -0.026782259345054626 + ], + [ + 0.02068692818284035, + 0.9978835045406972, + -0.061648850008018154, + -0.037292059510946274 + ], + [ + 0.025956999510526664, + 0.06110519706343017, + 0.9977937541284534, + -0.0010021452326327562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994533658027649, + -0.022214650900795073, + -0.024485287538143656, + -0.026658209040760994 + ], + [ + 0.020641973242163658, + 0.9978182533676377, + -0.06271085776005232, + -0.03725190833210945 + ], + [ + 0.02582496777176857, + 0.06217114759819308, + 0.9977313132932469, + -0.0009650135179981589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994576573371887, + -0.0221874835849957, + -0.024332677765492895, + -0.02653416432440281 + ], + [ + 0.020597010850906372, + 0.9977518731183135, + -0.06377278912201662, + -0.037211764603853226 + ], + [ + 0.025692934170365334, + 0.06323701979501324, + 0.9976677348457869, + -0.0009278655634261668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994620084762573, + -0.022160019824204683, + -0.024180156713773812, + -0.02641010843217373 + ], + [ + 0.020552048459649086, + 0.9976843632289306, + -0.06483466523684386, + -0.0371716171503067 + ], + [ + 0.025560900568962097, + 0.06430283478309676, + 0.9976030182380815, + -0.0008907526498660445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994663000106814, + -0.022132246576234763, + -0.024027719651548016, + -0.026286035776138306 + ], + [ + 0.020507080480456356, + 0.9976157239530009, + -0.06589647745634154, + -0.03713149204850197 + ], + [ + 0.025428868830204017, + 0.06536856717856179, + 0.997537104619816, + -0.0008536750101484358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994705319404602, + -0.022104171669712704, + -0.023875374286177063, + -0.02616197057068348 + ], + [ + 0.02046210691332817, + 0.9975459555779413, + -0.06695821713330674, + -0.03709135577082634 + ], + [ + 0.025296838954091072, + 0.06643422491306628, + 0.997470053450603, + -0.0008165806066244841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999474823474884, + -0.022075793228968976, + -0.023723115565646928, + -0.02603789232671261 + ], + [ + 0.02041713334619999, + 0.9974750579354819, + -0.06801989051473288, + -0.03705122321844101 + ], + [ + 0.025164809077978134, + 0.0674998067735031, + 0.9974018648230415, + -0.0007795210694894195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9994790554046631, + -0.022047113394134295, + -0.023570947628035032, + -0.025913799181580544 + ], + [ + 0.02037215419113636, + 0.997402971508667, + -0.0690814943766977, + -0.03701111301779747 + ], + [ + 0.025032782927155495, + 0.06856531899317268, + 0.99733253857807, + -0.000742497097235173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994832277297976, + -0.022018124622881413, + -0.02341886375985496, + -0.025789713487029076 + ], + [ + 0.02032716572284699, + 0.9973298157560274, + -0.0701430240549129, + -0.03697098419070244 + ], + [ + 0.024900749325752265, + 0.06963073593148524, + 0.9972620160016988, + -0.000705456011928618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994874596595766, + -0.021988836768102763, + -0.023266875289591586, + -0.025665612891316414 + ], + [ + 0.020282177254557613, + 0.9972555309161802, + -0.07120448383735323, + -0.0369308777153492 + ], + [ + 0.024768723174929626, + 0.07069608067293409, + 0.997190356004224, + -0.0006684506661258638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994916319847109, + -0.02195924407711252, + -0.02311497358290657, + -0.025541501119732857 + ], + [ + 0.02023718692362309, + 0.9971800574829657, + -0.07226587030446455, + -0.03689076751470566 + ], + [ + 0.024636695161461837, + 0.07176134978467728, + 0.9971174990958472, + -0.0006314796628430486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994957447052002, + -0.02192934698439803, + -0.0229631665684949, + -0.025417394936084747 + ], + [ + 0.020192187279462814, + 0.9971035145011121, + -0.07332719035213825, + -0.03685066103935242 + ], + [ + 0.02450467273592949, + 0.0728265427042547, + 0.9970435646232539, + -0.000594492768868804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994999170303347, + -0.021899150953886816, + -0.022811447063691547, + -0.025293277576565742 + ], + [ + 0.020147187635302547, + 0.997025783481539, + -0.07438842338622713, + -0.03681056573987007 + ], + [ + 0.024372644722461707, + 0.07389163882526723, + 0.9969684341382276, + -0.0005575406830757856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995040297508242, + -0.02186864891709039, + -0.02265982141851185, + -0.025169141590595245 + ], + [ + 0.02010218054056168, + 0.9969469828864259, + -0.07544959145372451, + -0.036770474165678024 + ], + [ + 0.024240620434284217, + 0.07495665535236819, + 0.9968921070324352, + -0.000520623754709959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995081424713137, + -0.021837848487698243, + -0.022508289811190706, + -0.025045014917850494 + ], + [ + 0.020057173445820812, + 0.9968669939497412, + -0.07651068114453707, + -0.03673037886619568 + ], + [ + 0.024108599871397025, + 0.0760215958374268, + 0.996814702498851, + -0.0004836904408875853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995121955871582, + -0.02180674207296527, + -0.022356845579694796, + -0.0249208752065897 + ], + [ + 0.020012158900499344, + 0.9967859364801848, + -0.0775716812665107, + -0.03669029474258423 + ], + [ + 0.023976575583219528, + 0.07708643184068253, + 0.9967361024636818, + -0.0004467918479349464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995162487030032, + -0.021775335809878935, + -0.02220549827236688, + -0.02479674108326435 + ], + [ + 0.019967138767242435, + 0.9967036906724737, + -0.07863260420448563, + -0.03665020689368248 + ], + [ + 0.023844553157687194, + 0.07815118800871142, + 0.9966563059480488, + -0.0004098769277334213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995203018188479, + -0.021743625902972585, + -0.02205424294306444, + -0.024672575294971466 + ], + [ + 0.019922116771340374, + 0.9966203163009323, + -0.07969344751684437, + -0.036610137671232224 + ], + [ + 0.023712530732154853, + 0.07921584967690892, + 0.9965754329567384, + -0.0003730484168045223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995242953300476, + -0.02171161445840089, + -0.021903081848495817, + -0.02454841323196888 + ], + [ + 0.01987709105014801, + 0.9965358134331247, + -0.0807542100037478, + -0.03657006844878197 + ], + [ + 0.023580510169267654, + 0.08028042523342245, + 0.9964933638458019, + -0.00033620349131524563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995282888412478, + -0.021679299781919622, + -0.021752015551426054, + -0.02442426048219204 + ], + [ + 0.019832059741020206, + 0.9964501824886973, + -0.08181488302308311, + -0.03652999550104141 + ], + [ + 0.02344849146902562, + 0.08134490863420069, + 0.996410158599273, + -0.00029934229678474367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995322823524477, + -0.02164668780175598, + -0.02160104798452801, + -0.024300092831254005 + ], + [ + 0.0197870247066021, + 0.9963634226648215, + -0.08287548398108682, + -0.036489930003881454 + ], + [ + 0.023316474631428722, + 0.08240929951726275, + 0.99632575761378, + -0.00026251637609675527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995362758636477, + -0.02161377256541667, + -0.021450168722578662, + -0.024175910279154778 + ], + [ + 0.019741987809538845, + 0.9962755948133368, + -0.08393598856782238, + -0.036449871957302094 + ], + [ + 0.02318445220589638, + 0.08347359862825751, + 0.9962402802475137, + -0.00022572495799977332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995402097702026, + -0.021580554873812222, + -0.021299391269178798, + -0.024051716551184654 + ], + [ + 0.01969694159924984, + 0.9961865790499133, + -0.08499640838030198, + -0.03640982136130333 + ], + [ + 0.023052437230944633, + 0.08453779222497158, + 0.9961535482056965, + -0.00018896909023169428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995441436767578, + -0.021547040207596974, + -0.021148710235490222, + -0.02392752841114998 + ], + [ + 0.019651899114251137, + 0.9960963756377265, + -0.08605673830235154, + -0.036369774490594864 + ], + [ + 0.02292042039334774, + 0.08560189906891677, + 0.9960657396377953, + -0.00015219670603983104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9995480179786684, + -0.02151322295984997, + -0.02099812265661966, + -0.02380332723259926 + ], + [ + 0.01960684731602669, + 0.9960051040982855, + -0.08711697576356132, + -0.0363297313451767 + ], + [ + 0.022788405418396, + 0.08666589699817688, + 0.9959767363648742, + -0.00011545899178599939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9995518922805788, + -0.021479101828791845, + -0.020847636552657603, + -0.023679129779338837 + ], + [ + 0.019561791792511943, + 0.9959127042041062, + -0.08817713144335573, + -0.03628968074917793 + ], + [ + 0.022656392306089405, + 0.08772980268530511, + 0.9958865972593638, + -7.8705204941798e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9995557665824892, + -0.021444685889758085, + -0.02069724445923552, + -0.023554902523756027 + ], + [ + 0.019516734406352047, + 0.9958191770281568, + -0.08923718554248683, + -0.03624965623021126 + ], + [ + 0.02252437733113766, + 0.08879360375949195, + 0.9957953230283112, + -4.2037620005430654e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9995596408843994, + -0.021409962595077846, + -0.02054695313897107, + -0.023430701345205307 + ], + [ + 0.01947166956961155, + 0.9957245218541204, + -0.09029715174152765, + -0.03620961681008339 + ], + [ + 0.022392362356185913, + 0.08985730645012652, + 0.9957029133889201, + -5.3025828492536675e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999563455581665, + -0.02137494503595989, + -0.02039676048685678, + -0.02330646850168705 + ], + [ + 0.019426602870225906, + 0.9956286796662654, + -0.09135701800873768, + -0.03616959601640701 + ], + [ + 0.022260352969169617, + 0.0909208987146658, + 0.9956093093674301, + 3.134628423140384e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995672702789307, + -0.021339624194975277, + -0.020246669356982192, + -0.02318223938345909 + ], + [ + 0.019381528720259666, + 0.995531769578105, + -0.09241678986695907, + -0.03612956777215004 + ], + [ + 0.02212834358215332, + 0.09198439004481516, + 0.9955145701828066, + 6.801152630941942e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995710253715515, + -0.021304007470009826, + -0.020096676074253875, + -0.02305799163877964 + ], + [ + 0.019336454570293427, + 0.9954336720119766, + -0.09347647042234486, + -0.03608955815434456 + ], + [ + 0.021996330469846725, + 0.093047771987688, + 0.9954186366677259, + 0.0001046415272867307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995747804641724, + -0.021268089675145797, + -0.019946785153807024, + -0.02293373830616474 + ], + [ + 0.01929137483239174, + 0.9953345067051703, + -0.09453605430085396, + -0.036049552261829376 + ], + [ + 0.021864324808120728, + 0.09411105788255608, + 0.9953215677838363, + 0.0001412363926647231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995785355567934, + -0.02123187262270933, + -0.01979699324066391, + -0.02280948869884014 + ], + [ + 0.019246291369199756, + 0.9952341547585509, + -0.09559553319173485, + -0.036009542644023895 + ], + [ + 0.021732315421104435, + 0.09517422420804535, + 0.9952233649925839, + 0.0001778478908818215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995822906494141, + -0.02119535636612064, + -0.019647298947674682, + -0.022685250267386436 + ], + [ + 0.019201204180717468, + 0.9951327354925793, + -0.09665490942153535, + -0.035969529300928116 + ], + [ + 0.021600304171442986, + 0.09623728091120037, + 0.9951240277624349, + 0.00021447597828228027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995859861373901, + -0.0211585380613685, + -0.019497714136684604, + -0.02256097085773945 + ], + [ + 0.019156109541654587, + 0.9950301293291938, + -0.097714185573098, + -0.03592953830957413 + ], + [ + 0.021468302235007286, + 0.09730023415191637, + 0.9950234960298775, + 0.000251016957918182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995896816253662, + -0.021121422524666714, + -0.019348224058385956, + -0.022436700761318207 + ], + [ + 0.019111013039946556, + 0.9949263963193409, + -0.09877335666580053, + -0.03588953986763954 + ], + [ + 0.02133629471063614, + 0.0983630640678034, + 0.9949218308262859, + 0.0002875749778468162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995933771133423, + -0.02108400878432534, + -0.019198840453031024, + -0.02231241948902607 + ], + [ + 0.019065912812948227, + 0.9948215962865745, + -0.09983242169906961, + -0.03584954887628555 + ], + [ + 0.02120428904891014, + 0.09942578060417785, + 0.9948190315875438, + 0.000324098247801885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995970129966736, + -0.021046298640749812, + -0.01904955994891913, + -0.02218814566731453 + ], + [ + 0.01902081072330475, + 0.9947156091474025, + -0.10089139029666395, + -0.03580956161022186 + ], + [ + 0.021072285249829292, + 0.1004883897235946, + 0.9947150382303236, + 0.00036063720472157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996006488800049, + -0.02100828669757889, + -0.018900383389329357, + -0.022063853219151497 + ], + [ + 0.018975701183080673, + 0.9946084957026884, + -0.10195024652350188, + -0.03576957806944847 + ], + [ + 0.020940283313393593, + 0.1015508829145107, + 0.9946099110926226, + 0.00039714123704470694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996042251586914, + -0.020969978581611436, + -0.01875130901285706, + -0.02193954959511757 + ], + [ + 0.01893058605492115, + 0.9945002558145222, + -0.10300899289914892, + -0.035729605704545975 + ], + [ + 0.020808277651667595, + 0.10261325525220266, + 0.9945036505686199, + 0.00043361031566746533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996078610420227, + -0.02093137101157112, + -0.018602341260552126, + -0.021815231069922447 + ], + [ + 0.018885469064116478, + 0.9943908890690317, + -0.1040676356583014, + -0.035689644515514374 + ], + [ + 0.020676275715231895, + 0.10367551296167071, + 0.9943962562872164, + 0.00047004417865537107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996114373207092, + -0.020892465768009554, + -0.01845347675910872, + -0.02169092185795307 + ], + [ + 0.018840348348021507, + 0.9942803963461502, + -0.10512616245419389, + -0.03564968332648277 + ], + [ + 0.020544273778796196, + 0.10473763944624581, + 0.9942876697175054, + 0.0005064947181381285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999614953994751, + -0.020853265288014913, + -0.01830472141686513, + -0.02156659960746765 + ], + [ + 0.01879522204399109, + 0.994168777230481, + -0.10618457952141436, + -0.035609714686870575 + ], + [ + 0.020412277430295944, + 0.10579965247219511, + 0.9941779494116937, + 0.000542909896466881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996184706687927, + -0.020813763510007247, + -0.01815606681725183, + -0.02144228108227253 + ], + [ + 0.018750092014670372, + 0.994056032367977, + -0.10724287823125676, + -0.035569753497838974 + ], + [ + 0.020280277356505394, + 0.10686153902909915, + 0.9940670365901443, + 0.0005793423042632639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996219873428347, + -0.020773972437636505, + -0.01800752189810846, + -0.021317951381206512 + ], + [ + 0.01870496198534966, + 0.99394216049782, + -0.10830107596222832, + -0.03552979975938797 + ], + [ + 0.020148279145359996, + 0.10792331030048019, + 0.9939550500127787, + 0.0006157386815175414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996255040168762, + -0.020733878841822272, + -0.01785908251496916, + -0.02119360864162445 + ], + [ + 0.01865982636809349, + 0.9938271630920561, + -0.10935915294030378, + -0.03548985719680786 + ], + [ + 0.020016280934214592, + 0.10898495255733201, + 0.9938418712104957, + 0.0006521003670059144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996289610862734, + -0.020693485187503073, + -0.01771075458346524, + -0.021069269627332687 + ], + [ + 0.018614679574966434, + 0.9937109805636806, + -0.1104171071178647, + -0.035449907183647156 + ], + [ + 0.019884284585714344, + 0.11004646068293139, + 0.993727500630073, + 0.0006884787580929697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996324181556704, + -0.020652800379140697, + -0.01756253043096554, + -0.02094491757452488 + ], + [ + 0.018569534644484523, + 0.9935937316042476, + -0.11147495007867217, + -0.035409968346357346 + ], + [ + 0.01975229009985924, + 0.1111078462520117, + 0.9936120570063475, + 0.0007248217589221895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996358752250671, + -0.020611817601713683, + -0.017414416665159232, + -0.020820556208491325 + ], + [ + 0.01852438785135746, + 0.993475356885284, + -0.11253267612420773, + -0.03537004068493843 + ], + [ + 0.019620295614004135, + 0.11216910628849326, + 0.9934954210477689, + 0.0007611290202476084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996392726898193, + -0.02057053303728202, + -0.01726641034305298, + -0.02069619670510292 + ], + [ + 0.018479228019714355, + 0.9933557970998823, + -0.11359027929566448, + -0.03533010557293892 + ], + [ + 0.019488301128149033, + 0.1132302367230456, + 0.9933776529053753, + 0.0007974536856636405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996426701545715, + -0.0205289620221933, + -0.01711851445686935, + -0.02057182602584362 + ], + [ + 0.0184340737760067, + 0.9932351714918491, + -0.11464776413959762, + -0.035290174186229706 + ], + [ + 0.01935631036758423, + 0.11429123523618664, + 0.9932586930206737, + 0.0008337426697835326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996460676193237, + -0.02048709360966041, + -0.016970730359374124, + -0.020447444170713425 + ], + [ + 0.018388913944363594, + 0.9931133616659403, + -0.11570511615943989, + -0.035250261425971985 + ], + [ + 0.019224319607019424, + 0.11535209417867513, + 0.9931386018715196, + 0.0008699969621375203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996494054794312, + -0.020444921651688354, + -0.016823049706218073, + -0.020323066040873528 + ], + [ + 0.018343742936849594, + 0.9929904859507224, + -0.1167623513021102, + -0.03521034121513367 + ], + [ + 0.019092323258519173, + 0.11641281977136618, + 0.9930173790176292, + 0.0009062679600901902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996528029441833, + -0.020402460719448873, + -0.016675488595708013, + -0.020198674872517586 + ], + [ + 0.018298573791980743, + 0.9928664250291998, + -0.11781946594678862, + -0.035170432180166245 + ], + [ + 0.018960338085889816, + 0.11747341823262551, + 0.9928950239874664, + 0.0009425031021237373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999656081199646, + -0.020359702336631872, + -0.016528033261785653, + -0.0200742706656456 + ], + [ + 0.018253399059176445, + 0.9927412399839656, + -0.11887644522701617, + -0.03513052687048912 + ], + [ + 0.01882834918797016, + 0.11853387213326184, + 0.9927714784805581, + 0.0009787040762603283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996594190597534, + -0.02031664901451039, + -0.0163806895836833, + -0.01994987204670906 + ], + [ + 0.018208220601081848, + 0.9926149890604682, + -0.11993330794577126, + -0.035090625286102295 + ], + [ + 0.018696362152695656, + 0.11959419264803194, + 0.9926468014223002, + 0.0010149208828806877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996626973152161, + -0.020273299251685986, + -0.016233460045170827, + -0.019825462251901627 + ], + [ + 0.018163036555051804, + 0.9924875542460868, + -0.12099003524502468, + -0.03505072370171547 + ], + [ + 0.01856437511742115, + 0.12065437114873358, + 0.9925209936127721, + 0.0010511029977351427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996659159660339, + -0.02022965646202347, + -0.016086339220723837, + -0.019701037555933 + ], + [ + 0.01811785064637661, + 0.9923589947278066, + -0.1220466347260799, + -0.03501083329319954 + ], + [ + 0.018432386219501495, + 0.12171441228178503, + 0.9923939948651747, + 0.001087249256670475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996691942214966, + -0.020185719805468787, + -0.01593933701278243, + -0.01957661658525467 + ], + [ + 0.018072661012411118, + 0.992229310958739, + -0.12310310148188894, + -0.03497094288468361 + ], + [ + 0.01830040104687214, + 0.12277430886097496, + 0.9922658657022057, + 0.0011234123958274722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996724128723145, + -0.020141488647802436, + -0.01579244460934066, + -0.019452188163995743 + ], + [ + 0.01802746392786503, + 0.9920985030712967, + -0.12415943431687952, + -0.034931063652038574 + ], + [ + 0.018168417736887932, + 0.12383406710265309, + 0.9921366056238661, + 0.0011595413088798523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996756315231325, + -0.02009696148693628, + -0.015645664501535442, + -0.019327742978930473 + ], + [ + 0.017982264980673793, + 0.9919665705145774, + -0.12521563945466846, + -0.03489118441939354 + ], + [ + 0.01803643070161343, + 0.12489367290561079, + 0.9920061561155916, + 0.0011956337839365005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996787905693054, + -0.020052141059012398, + -0.015499004404992668, + -0.0192033052444458 + ], + [ + 0.017937062308192253, + 0.9918335137455105, + -0.12627171198852002, + -0.0348513126373291 + ], + [ + 0.017904451116919518, + 0.12595314708262245, + 0.9918746350283753, + 0.0012317432556301355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9996819496154785, + -0.020007030935717072, + -0.015352460722357998, + -0.019078858196735382 + ], + [ + 0.017891855910420418, + 0.9916993335889711, + -0.12732764330452795, + -0.034811437129974365 + ], + [ + 0.01777247153222561, + 0.12701246438486183, + 0.9917418651675921, + 0.0012678172206506133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996851086616516, + -0.01996162116052365, + -0.015206025519346692, + -0.018954388797283173 + ], + [ + 0.017846643924713135, + 0.9915640294856828, + -0.1283834396255247, + -0.03477158024907112 + ], + [ + 0.01764049008488655, + 0.12807163281687028, + 0.9916080254512143, + 0.0013038567267358303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996882081031799, + -0.019915918365518953, + -0.015059708011709541, + -0.01882993057370186 + ], + [ + 0.017801424488425255, + 0.991427542592832, + -0.1294390903107075, + -0.03473171591758728 + ], + [ + 0.017508508637547493, + 0.1291306510230659, + 0.9914729963244643, + 0.001339912530966103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999691367149353, + -0.019869922753826215, + -0.014913508661542186, + -0.01870546117424965 + ], + [ + 0.017756205052137375, + 0.9912899909874433, + -0.13049461298882276, + -0.034691862761974335 + ], + [ + 0.017376530915498734, + 0.13018953082086854, + 0.9913368365626883, + 0.0013759327121078968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996944069862366, + -0.019823639906694876, + -0.014767425527038174, + -0.018580975010991096 + ], + [ + 0.017710983753204346, + 0.9911513161856034, + -0.1315499933766807, + -0.03465201333165169 + ], + [ + 0.017244551330804825, + 0.1312482487603784, + 0.9911995485029844, + 0.001411918899975717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9996975064277649, + -0.019777060753657257, + -0.014621459978832662, + -0.01845649629831314 + ], + [ + 0.01766575500369072, + 0.9910115183298933, + -0.13260523027969068, + -0.03461216017603874 + ], + [ + 0.017112577334046364, + 0.13230681253788432, + 0.9910610715651703, + 0.0014479209203273058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997005462646484, + -0.01973018734811409, + -0.014475612303516837, + -0.018332000821828842 + ], + [ + 0.017620524391531944, + 0.9908705375123595, + -0.13366032391960295, + -0.03457232192158699 + ], + [ + 0.016980601474642754, + 0.13336522675117418, + 0.9909214652351124, + 0.0014838874340057373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997035861015322, + -0.019683021553900733, + -0.014329880926278555, + -0.01820751652121544 + ], + [ + 0.017575286328792575, + 0.990728494359062, + -0.13471526649793733, + -0.03453247621655464 + ], + [ + 0.016848625615239147, + 0.13442347907862665, + 0.9907807308148782, + 0.0015198710607364774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997065663337708, + -0.01963556599237878, + -0.014184271675845597, + -0.01808299869298935 + ], + [ + 0.01753004640340805, + 0.9905852677748735, + -0.1357700707050717, + -0.03449266031384468 + ], + [ + 0.016716651618480682, + 0.1354815807218111, + 0.990638807304335, + 0.001555767492391169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997095465660097, + -0.019587814350945355, + -0.01403877632339297, + -0.0179585088044405 + ], + [ + 0.017484799027442936, + 0.9904409779912545, + -0.1368247327093923, + -0.03445281460881233 + ], + [ + 0.016584677621722225, + 0.13653952784238974, + 0.990495814979726, + 0.0015917327255010605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9997125267982483, + -0.01953977705356757, + -0.013893403627856446, + -0.017833983525633812 + ], + [ + 0.017439553514122963, + 0.9902955065861209, + -0.1378792389990823, + -0.03441299870610237 + ], + [ + 0.01645270548760891, + 0.1375973080749917, + 0.9903515754063242, + 0.0016276101814582944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997155070304871, + -0.01949144465698516, + -0.0137481513134442, + -0.017709465697407722 + ], + [ + 0.017394300550222397, + 0.9901489133939214, + -0.13893359080257525, + -0.03437317907810211 + ], + [ + 0.016320735216140747, + 0.1386549276781657, + 0.9902062677868524, + 0.0016635049832984805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999718427658081, + -0.019442821069268947, + -0.013603019453224048, + -0.01758493110537529 + ], + [ + 0.017349043861031532, + 0.990001196582826, + -0.13998780544678804, + -0.03433335945010185 + ], + [ + 0.016188763082027435, + 0.13971239139476116, + 0.9900597717905376, + 0.0016993641620501876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.999721348285675, + -0.019393908446507784, + -0.013458009231184054, + -0.01746038906276226 + ], + [ + 0.01730378530919552, + 0.9898524175275853, + -0.14104186966706456, + -0.034293562173843384 + ], + [ + 0.01605679653584957, + 0.14076969316585652, + 0.9899121480516443, + 0.001735188066959381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997242093086243, + -0.01934470123724866, + -0.013313119859736017, + -0.01733584702014923 + ], + [ + 0.017258519306778908, + 0.9897024566567225, + -0.14209578054294375, + -0.03425375372171402 + ], + [ + 0.015924828127026558, + 0.14182682808757108, + 0.9897633971645082, + 0.0017710288520902395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997271299362183, + -0.019295203450022284, + -0.013168352324838099, + -0.017211299389600754 + ], + [ + 0.017213249579072, + 0.9895513750081638, + -0.1431495284546752, + -0.03421395644545555 + ], + [ + 0.015792859718203545, + 0.14288379578467703, + 0.9896134592668128, + 0.0018068348290398717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9997299909591677, + -0.019245419200124403, + -0.013023708520992298, + -0.017086753621697426 + ], + [ + 0.017167979851365093, + 0.9893991706861966, + -0.14420313072220783, + -0.034174155443906784 + ], + [ + 0.015660896897315982, + 0.14394059780443383, + 0.9894623942061138, + 0.0018426567548885942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997327923774719, + -0.019195340666135697, + -0.012879184180307156, + -0.016962194815278053 + ], + [ + 0.017122698947787285, + 0.9892458459094436, + -0.1452565676405054, + -0.034134358167648315 + ], + [ + 0.01552892941981554, + 0.14499722924502026, + 0.9893102025929567, + 0.0018784435233101249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997355937957764, + -0.019144972486339007, + -0.012734785828083722, + -0.016837622970342636 + ], + [ + 0.01707741804420948, + 0.9890913991676494, + -0.14630985282412542, + -0.03409457579255104 + ], + [ + 0.0153969656676054, + 0.1460536895345723, + 0.989156824566678, + 0.0019141952507197857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9997383952140808, + -0.019094312492619274, + -0.012590509509122624, + -0.016713038086891174 + ], + [ + 0.017032131552696228, + 0.9889358323071619, + -0.14736297027496098, + -0.03405480086803436 + ], + [ + 0.01526500005275011, + 0.14710997671641413, + 0.9890023203970484, + 0.0019499115878716111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9997411966323853, + -0.019043367193334104, + -0.012446361515820785, + -0.01658845879137516 + ], + [ + 0.016986841335892677, + 0.9887791433562475, + -0.14841593730439415, + -0.03401501849293709 + ], + [ + 0.015133040957152843, + 0.148166100693075, + 0.98884668899666, + 0.0019856453873217106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997439384460449, + -0.018992132022262572, + -0.012302333477861046, + -0.0164638664573431 + ], + [ + 0.016941551119089127, + 0.9886212736814645, + -0.1494687420460175, + -0.03397525101900101 + ], + [ + 0.015001079067587852, + 0.1492220565627187, + 0.9886899309732691, + 0.0020213427487760782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9997466802597046, + -0.01894060750342342, + -0.012158428628478421, + -0.01633928343653679 + ], + [ + 0.01689625345170498, + 0.9884623427013208, + -0.15052138978166765, + -0.03393547609448433 + ], + [ + 0.014869115315377712, + 0.1502778286914046, + 0.9885319882037751, + 0.0020570573396980762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997494220733645, + -0.01888878918016291, + -0.012014655488247544, + -0.016214681789278984 + ], + [ + 0.016850950196385387, + 0.9883022913781635, + -0.15157387241404308, + -0.03389571234583855 + ], + [ + 0.014737159013748172, + 0.15133343018458695, + 0.9883729192153725, + 0.002092736540362239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997521042823792, + -0.01883668922012053, + -0.011871004641222682, + -0.016090072691440582 + ], + [ + 0.01680564694106579, + 0.9881411194311209, + -0.15262619244954959, + -0.03385595232248306 + ], + [ + 0.014605199918150902, + 0.15238884897936975, + 0.9882126654716983, + 0.0021283808164298534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999754786491394, + -0.018784297294082628, + -0.011727482498033088, + -0.01596546545624733 + ], + [ + 0.016760336235165596, + 0.987978769658984, + -0.1536783266744339, + -0.03381619602441788 + ], + [ + 0.014473242685198784, + 0.15344409074624807, + 0.9880513464310263, + 0.0021640416234731674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9997574090957644, + -0.018731613279742983, + -0.01158408675289623, + -0.015840847045183182 + ], + [ + 0.01671502180397511, + 0.98781535741358, + -0.15473031417666752, + -0.03377644345164299 + ], + [ + 0.014341286383569244, + 0.15449915098799116, + 0.9878888426160926, + 0.0021996672730892897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.999760091304779, + -0.01867864489683456, + -0.011440817878118972, + -0.01571621745824814 + ], + [ + 0.016669703647494316, + 0.9876507663356885, + -0.15578212444810574, + -0.033736702054739 + ], + [ + 0.014209331944584846, + 0.15555402831089318, + 0.9877251542431248, + 0.00223525776527822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9997627139091492, + -0.018625392473201607, + -0.011297677240776249, + -0.015591572970151901 + ], + [ + 0.016624385491013527, + 0.9874851144386353, + -0.1568337746470347, + -0.033696968108415604 + ], + [ + 0.014077378436923027, + 0.15660873986540388, + 0.9875603993471016, + 0.0022708126343786716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9997652769088745, + -0.0185718431721379, + -0.01115466599736469, + -0.015466934069991112 + ], + [ + 0.016579054296016693, + 0.9873182845306127, + -0.15788524140650817, + -0.03365723788738251 + ], + [ + 0.013945424929261208, + 0.15766325488524627, + 0.9873944616939492, + 0.0023063847329467535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997678995132446, + -0.018518013604752005, + -0.011011780660763812, + -0.01534230262041092 + ], + [ + 0.016533726826310158, + 0.9871503340587777, + -0.15893654567722595, + -0.033617496490478516 + ], + [ + 0.013813471421599388, + 0.15871759431647212, + 0.9872273987767837, + 0.002341973129659891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.99977046251297, + -0.018463891283652927, + -0.01086902517550666, + -0.015217638574540615 + ], + [ + 0.016488390043377876, + 0.9869813241830339, + -0.1599876791029683, + -0.033577777445316315 + ], + [ + 0.013681519776582718, + 0.15977173456209987, + 0.9870591535698648, + 0.002377474447712302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9997729659080508, + -0.018409483935602444, + -0.01072639997690481, + -0.01509297825396061 + ], + [ + 0.01644305139780045, + 0.9868111363726311, + -0.16103862901748414, + -0.033538054674863815 + ], + [ + 0.013549569062888626, + 0.16082570068279534, + 0.986889843108019, + 0.0024129918310791254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9997755289077761, + -0.018354792142609624, + -0.010583908282343136, + -0.014968306757509708 + ], + [ + 0.01639771088957787, + 0.9866398289617677, + -0.16208940917111025, + -0.03349833935499191 + ], + [ + 0.013417622074484829, + 0.16187946843211762, + 0.9867192902694157, + 0.0024484749883413315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9997780323028564, + -0.018299811585621807, + -0.01044154456267547, + -0.014843642711639404 + ], + [ + 0.016352364793419838, + 0.9864674030825141, + -0.16314001098413738, + -0.03345862403512001 + ], + [ + 0.013285674154758453, + 0.16293305227469812, + 0.9865476735545751, + 0.0024839742109179497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.999780535697937, + -0.018244546536068086, + -0.010299311555261804, + -0.014718964695930481 + ], + [ + 0.01630701683461666, + 0.986293858423627, + -0.16419043695912425, + -0.033418912440538406 + ], + [ + 0.01315372809767723, + 0.16398644653428104, + 0.9863748735245279, + 0.002519437810406089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9997829794883728, + -0.018188993395496, + -0.010157209280005939, + -0.014594272710382938 + ], + [ + 0.016261659562587738, + 0.986119196148032, + -0.16524067852041852, + -0.033379215747117996 + ], + [ + 0.013021781109273434, + 0.16503964299141471, + 0.9862009514560226, + 0.002554867183789611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9997854232788086, + -0.018133152756156394, + -0.010015240964340439, + -0.014469589106738567 + ], + [ + 0.016216300427913666, + 0.9859434144498491, + -0.16629074924605944, + -0.03333951160311699 + ], + [ + 0.012889835983514786, + 0.1660926552202137, + 0.9860259055895817, + 0.002590312622487545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9997878670692444, + -0.018077026059681187, + -0.009873402199551457, + -0.014344893395900726 + ], + [ + 0.016170937567949295, + 0.9857665159997958, + -0.16734062948668438, + -0.03329981490969658 + ], + [ + 0.012757889926433563, + 0.16714546287828438, + 0.9858496785777796, + 0.0026257229037582874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9997902512550354, + -0.01802061637962788, + -0.009731700565153876, + -0.014220181852579117 + ], + [ + 0.016125569120049477, + 0.9855884989743066, + -0.1683903328179398, + -0.03326013311743736 + ], + [ + 0.012625950388610363, + 0.16819808009517664, + 0.9856723287095838, + 0.002661098027601838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9997926354408264, + -0.01796392095328947, + -0.009590128458412818, + -0.014095475897192955 + ], + [ + 0.016080200672149658, + 0.9854093635365294, + -0.16943985804730435, + -0.03322044387459755 + ], + [ + 0.012494007125496864, + 0.16925050567475697, + 0.9854938561947636, + 0.002696489216759801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997950196266177, + -0.0179069407651406, + -0.00944869186598545, + -0.013970756903290749 + ], + [ + 0.016034824773669246, + 0.9852290528883737, + -0.17048918095999693, + -0.033180758357048035 + ], + [ + 0.012362065725028518, + 0.17030273104252658, + 0.9853142622775096, + 0.002731845946982503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997973442077637, + -0.017849673938949994, + -0.009307389653666462, + -0.013846025802195072 + ], + [ + 0.01598944701254368, + 0.9850476842694998, + -0.17153832421376763, + -0.03314109146595001 + ], + [ + 0.012230126187205315, + 0.17135474667638811, + 0.9851334881746613, + 0.0027671675197780132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9997996687889099, + -0.017792122936169618, + -0.009166224781683168, + -0.013721304014325142 + ], + [ + 0.015944061800837517, + 0.9848651972593133, + -0.17258728948393823, + -0.03310141712427139 + ], + [ + 0.012098189443349838, + 0.1724065706494151, + 0.9849515915881163, + 0.002802504925057292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998019933700562, + -0.017734288643784825, + -0.009025189137376589, + -0.013596566393971443 + ], + [ + 0.015898674726486206, + 0.9846815345986768, + -0.17363605605499854, + -0.03306175768375397 + ], + [ + 0.011966248974204063, + 0.17345818961806936, + 0.9847685142481839, + 0.0028378069400787354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998043179512024, + -0.017676166935205257, + -0.008884292261872519, + -0.0134718157351017 + ], + [ + 0.015853283926844597, + 0.984496814493285, + -0.17468463959227848, + -0.033022090792655945 + ], + [ + 0.011834311299026012, + 0.1745096118670991, + 0.9845843754486296, + 0.0028730749618262053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998065829277039, + -0.017617766993872117, + -0.008743531430235447, + -0.013347070664167404 + ], + [ + 0.01580789126455784, + 0.9843109186081462, + -0.17573302561123907, + -0.03298243135213852 + ], + [ + 0.011702376417815685, + 0.17556082290895234, + 0.9843990569013021, + 0.0029083590488880873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998087882995605, + -0.01755907785307298, + -0.008602907773895382, + -0.013222313486039639 + ], + [ + 0.015762489289045334, + 0.9841239645613535, + -0.17678123372014914, + -0.03294278681278229 + ], + [ + 0.011570443399250507, + 0.17661182504305376, + 0.9842125583247072, + 0.0029436079785227776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999811053276062, + -0.017500107112159703, + -0.00846242067006291, + -0.013097543269395828 + ], + [ + 0.01571708545088768, + 0.9839358372947221, + -0.17782922706024692, + -0.032903142273426056 + ], + [ + 0.01143851038068533, + 0.17766262326098156, + 0.984024999529682, + 0.0029788215178996325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9998132586479187, + -0.01744085315478981, + -0.008322070835531914, + -0.012972780503332615 + ], + [ + 0.015671677887439728, + 0.9837465927329391, + -0.1788770351455527, + -0.032863494008779526 + ], + [ + 0.011306577362120152, + 0.17871322111158933, + 0.9838362595441055, + 0.0030140515882521868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9998154640197754, + -0.01738131805048126, + -0.008181858441919865, + -0.012848001904785633 + ], + [ + 0.015626268461346626, + 0.9835562910902457, + -0.1799246582620051, + -0.03282385692000389 + ], + [ + 0.011174646206200123, + 0.17976359509802065, + 0.9836463419010291, + 0.003049246734008193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9998176097869873, + -0.01732149465962182, + -0.008041785044830392, + -0.012723231688141823 + ], + [ + 0.015580850653350353, + 0.9833648163282904, + -0.18097206654151418, + -0.03278421238064766 + ], + [ + 0.011042715050280094, + 0.18081376534474675, + 0.9834553642028352, + 0.003084458177909255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999819815158844, + -0.01726139440241156, + -0.007901850347567957, + -0.012598427943885326 + ], + [ + 0.015535433776676655, + 0.983172224823246, + -0.18201928599699646, + -0.032744597643613815 + ], + [ + 0.01091078668832779, + 0.18186372395288933, + 0.9832632071373512, + 0.003119582310318947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9998219013214111, + -0.01720101028540119, + -0.007762056829192187, + -0.012473632581532001 + ], + [ + 0.015490010380744934, + 0.9829785178729123, + -0.1830663080718013, + -0.032704971730709076 + ], + [ + 0.010778860189020634, + 0.1829134785746249, + 0.9830699298640518, + 0.0031547232065349817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.999824047088623, + -0.01714033999351063, + -0.007622400624131853, + -0.01234884187579155 + ], + [ + 0.015444581396877766, + 0.9827836968086292, + -0.18411312421437043, + -0.03266534209251404 + ], + [ + 0.010646932758390903, + 0.18396300418445605, + 0.9828754759703202, + 0.0031898815650492907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9998261332511902, + -0.01707939352568088, + -0.007482884440518853, + -0.012224039994180202 + ], + [ + 0.015399151481688023, + 0.9825877601298176, + -0.18515974428305312, + -0.032625727355480194 + ], + [ + 0.010515006259083748, + 0.18501232878392457, + 0.9826799618231098, + 0.0032250036019831896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9998282194137575, + -0.01701816147980849, + -0.007343507388379329, + -0.012099221348762512 + ], + [ + 0.01535371504724026, + 0.9823907097515001, + -0.18620615604698004, + -0.03258611634373665 + ], + [ + 0.010383079759776594, + 0.18606142186587427, + 0.9824832715845906, + 0.0032600911799818277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9998302459716799, + -0.016956646795268187, + -0.007204275155443602, + -0.011974393390119076 + ], + [ + 0.015308273024857048, + 0.9821925447325834, + -0.1872523656814523, + -0.0325465202331543 + ], + [ + 0.010251156985759737, + 0.18711029676959465, + 0.982285403229073, + 0.003295142436400056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.999832332134247, + -0.016894853877624447, + -0.007065184700489701, + -0.011849569156765938 + ], + [ + 0.01526283007115126, + 0.9819932652713534, + -0.18829837199881103, + -0.03250692039728165 + ], + [ + 0.010119237005710604, + 0.1881589634761301, + 0.9820864759084961, + 0.0033302109222859144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9998342990875246, + -0.01683278145287871, + -0.006926232927928279, + -0.011724735610187054 + ], + [ + 0.015217384323477749, + 0.9817928709781504, + -0.18934417748997945, + -0.032467320561409 + ], + [ + 0.009987314231693746, + 0.18920741317022138, + 0.9818863703628207, + 0.003365244483575225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9998363256454468, + -0.016770423308790666, + -0.00678742131605924, + -0.01159988809376955 + ], + [ + 0.015171930193901062, + 0.9815913644146667, + -0.19038976625471862, + -0.03242773562669754 + ], + [ + 0.009855390526354313, + 0.19025561504178823, + 0.9816850915810766, + 0.0034002421889454126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9998382925987244, + -0.0167077882219665, + -0.0066487564855029855, + -0.011475041508674622 + ], + [ + 0.015126475133001804, + 0.9813886851938501, + -0.19143513858677538, + -0.032388150691986084 + ], + [ + 0.009723471477627754, + 0.19130361257098183, + 0.9814827533910374, + 0.003435257589444518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.999840259552002, + -0.016644871244322405, + -0.006510235943967206, + -0.01135019026696682 + ], + [ + 0.015081014484167099, + 0.9811849511967196, + -0.1924803123474175, + -0.03234856575727463 + ], + [ + 0.00959155522286892, + 0.19235138551752806, + 0.981279238342087, + 0.003470237134024501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998422265052795, + -0.01658167506980373, + -0.006371857848810709, + -0.011225338093936443 + ], + [ + 0.01503554917871952, + 0.9809800455766801, + -0.19352526349714194, + -0.03230898454785347 + ], + [ + 0.00945963803678751, + 0.19339893115405613, + 0.981074607322541, + 0.0035052327439188957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998441338539124, + -0.01651819916484705, + -0.0062336237119803035, + -0.01110047847032547 + ], + [ + 0.014990082010626793, + 0.9807740855779971, + -0.19457001383246836, + -0.03226940333843231 + ], + [ + 0.00932772271335125, + 0.19444624222045254, + 0.9808688011870195, + 0.003540193662047386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998460412025454, + -0.016454443766477752, + -0.006095533976487926, + -0.010975601151585579 + ], + [ + 0.014944609254598621, + 0.9805669531802017, + -0.19561454640680204, + -0.032229840755462646 + ], + [ + 0.009195807389914991, + 0.19549334063860063, + 0.9806619371916047, + 0.0035751189570873976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999847948551178, + -0.016390406966766073, + -0.005957587556814907, + -0.010850711725652218 + ], + [ + 0.014899132773280144, + 0.9803587692597011, + -0.1966588612267294, + -0.032190289348363876 + ], + [ + 0.00906389206647873, + 0.1965401946345732, + 0.9804538998398203, + 0.003610010026022792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.999849796295166, + -0.016326094833194103, + -0.0058197914717481765, + -0.010725829750299454 + ], + [ + 0.014853653497993946, + 0.9801494121531182, + -0.19770296313376265, + -0.03215072676539421 + ], + [ + 0.008931982330977917, + 0.19758682119802048, + 0.9802446863387991, + 0.003644916694611311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999851644039154, + -0.016261501467124028, + -0.005682137751925458, + -0.010600936599075794 + ], + [ + 0.0148081686347723, + 0.9799390014614496, + -0.19874685973999728, + -0.032111167907714844 + ], + [ + 0.008800070732831955, + 0.19863322794034227, + 0.9800344163376157, + 0.0036797886714339256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998534321784973, + -0.01619662864445923, + -0.005544630361418312, + -0.01047604437917471 + ], + [ + 0.014762679114937782, + 0.9797274211278786, + -0.19979052256657392, + -0.032071616500616074 + ], + [ + 0.008668159134685993, + 0.19967939372553714, + 0.9798229725685893, + 0.0037146771792322397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998552799224854, + -0.016131479517543082, + -0.005407270187167609, + -0.010351146571338177 + ], + [ + 0.014717187732458115, + 0.9795147288927336, + -0.20083396771717676, + -0.0320320688188076 + ], + [ + 0.008536250330507755, + 0.20072531717474934, + 0.9796103553264497, + 0.003749529831111431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998570680618286, + -0.016066052334610795, + -0.005270057064726914, + -0.010226231068372726 + ], + [ + 0.014671692624688148, + 0.9793009249709446, + -0.20187719400673448, + -0.03199252858757973 + ], + [ + 0.008404341526329517, + 0.20177101914501722, + 0.9793966820396098, + 0.003784347092732787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998587965965271, + -0.016000344068413906, + -0.005132994369734019, + -0.010101323015987873 + ], + [ + 0.014626190066337585, + 0.9790860115032981, + -0.20292018924146915, + -0.03195299208164215 + ], + [ + 0.008272436447441578, + 0.20281647077485782, + 0.9791818367876016, + 0.003819182049483061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998605847358704, + -0.015934361662972407, + -0.004996077593128734, + -0.009976383298635483 + ], + [ + 0.014580687507987022, + 0.9788700442185652, + -0.20396298091651466, + -0.03191347420215607 + ], + [ + 0.008140530437231064, + 0.20386169202524307, + 0.9789658766541028, + 0.0038539294619113207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998623132705688, + -0.015868101767308736, + -0.004859308271623718, + -0.009851466864347458 + ], + [ + 0.014535179361701012, + 0.978652907842922, + -0.20500553624521323, + -0.03187393769621849 + ], + [ + 0.00800862442702055, + 0.20490666764715487, + 0.9787487438460353, + 0.0038887455593794584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9998639822006226, + -0.01580156152610093, + -0.0047226907079397544, + -0.00972652155905962 + ], + [ + 0.014489665627479553, + 0.9784346606689868, + -0.2060478679774621, + -0.031834423542022705 + ], + [ + 0.007876722142100334, + 0.20595140488608854, + 0.9785304976667863, + 0.003923473414033651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.999865710735321, + -0.015734745706751586, + -0.004586218865372492, + -0.009601579047739506 + ], + [ + 0.014444148167967796, + 0.978215244906973, + -0.20708996074078734, + -0.03179490193724632 + ], + [ + 0.007744817063212395, + 0.2069959025581742, + 0.9783111383860644, + 0.003958219662308693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998673796653748, + -0.015667655114336754, + -0.004449901592667124, + -0.00947662815451622 + ], + [ + 0.014398629777133465, + 0.9779947774786384, + -0.20813183799865792, + -0.031755395233631134 + ], + [ + 0.00761291803792119, + 0.20804016314592247, + 0.9780906656132136, + 0.003992929123342037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998689889907837, + -0.015600286430107774, + -0.0043137300335894645, + -0.009351678192615509 + ], + [ + 0.014353104867041111, + 0.9777732005932609, + -0.20917348444475087, + -0.03171588480472565 + ], + [ + 0.007481016218662262, + 0.20908416748306896, + 0.9778690222942369, + 0.004027655813843012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9998706579208374, + -0.015532641475789795, + -0.004177713335442419, + -0.009226719848811626 + ], + [ + 0.014307575300335884, + 0.977550513483436, + -0.21021490439478557, + -0.03167637437582016 + ], + [ + 0.007349118590354919, + 0.21012793407208624, + 0.977646265709375, + 0.004062346648424864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9998722672462463, + -0.015464719164597861, + -0.004041844608771374, + -0.009101749397814274 + ], + [ + 0.014262041077017784, + 0.9773267170430939, + -0.21125609300062267, + -0.031636886298656464 + ], + [ + 0.00721721863374114, + 0.2111714543993485, + 0.9774223974628341, + 0.00409700209274888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998738169670105, + -0.015396525583180458, + -0.003906130317199653, + -0.00897678080946207 + ], + [ + 0.014216506853699684, + 0.9771017535733545, + -0.212297034574459, + -0.03159738704562187 + ], + [ + 0.007085323333740234, + 0.21221471644087245, + 0.977197359226707, + 0.004131675697863102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9998754262924194, + -0.015328054898976973, + -0.003770568701446349, + -0.008851801045238972 + ], + [ + 0.014170965179800987, + 0.9768757391898691, + -0.2133377568831392, + -0.03155789524316788 + ], + [ + 0.00695342943072319, + 0.21325773705504367, + 0.9769712085550377, + 0.004166313447058201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9998769760131836, + -0.015259306762931121, + -0.0036351569999903055, + -0.008726806379854679 + ], + [ + 0.014125419780611992, + 0.976648558279891, + -0.21437822966994444, + -0.03151841461658478 + ], + [ + 0.006821533665060997, + 0.21430050773363854, + 0.976743947080091, + 0.004200915805995464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.999878466129303, + -0.015190286681899439, + -0.0034998984556055793, + -0.008601821959018707 + ], + [ + 0.014079871587455273, + 0.976420326553037, + -0.21541848278642237, + -0.03147893026471138 + ], + [ + 0.0066896406933665276, + 0.21534303278784533, + 0.97651557405349, + 0.004235533531755209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998800158500671, + -0.015120987239629635, + -0.003364793052042657, + -0.008476820774376392 + ], + [ + 0.014034316875040531, + 0.9761909288038981, + -0.21645848389138456, + -0.03143945336341858 + ], + [ + 0.0065577467903494835, + 0.2163852944447347, + 0.9762860322231556, + 0.0042701177299022675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998815059661867, + -0.015051420449190075, + -0.0032298432641084214, + -0.008351809345185757 + ], + [ + 0.013988763093948368, + 0.9759604810252113, + -0.21749826126005423, + -0.031399987637996674 + ], + [ + 0.006425857078284027, + 0.21742730615542993, + 0.9760553797664938, + 0.004304666072130203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998829960823059, + -0.014981574714917612, + -0.0030950470359513964, + -0.008226804435253143 + ], + [ + 0.013943200930953026, + 0.9757288670360348, + -0.2185377877879143, + -0.03136052191257477 + ], + [ + 0.00629396690055728, + 0.21846905551073453, + 0.9758235584240363, + 0.0043392302468419075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998844265937805, + -0.014911453559280684, + -0.002960407032400947, + -0.00810178555548191 + ], + [ + 0.013897635042667389, + 0.9754961459938881, + -0.21957707156538264, + -0.03132105991244316 + ], + [ + 0.0061620790511369705, + 0.21951056189212187, + 0.9755906859155683, + 0.004373759962618351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998858571052551, + -0.014841060542170596, + -0.0028259211548272924, + -0.007976753637194633 + ], + [ + 0.013852065429091454, + 0.9752623763066143, + -0.22061612459820534, + -0.03128160163760185 + ], + [ + 0.006030191667377949, + 0.22055179977178255, + 0.9753566458198916, + 0.004408254288136959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998872876167297, + -0.014770397184530227, + -0.002691591481352843, + -0.007851730100810528 + ], + [ + 0.013806494884192944, + 0.9750274404673711, + -0.22165492671501288, + -0.03124215267598629 + ], + [ + 0.0058983066119253635, + 0.22159277509189648, + 0.975121437040824, + 0.00444276537746191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998886585235596, + -0.01469945689667298, + -0.002557417407263765, + -0.007726691663265228 + ], + [ + 0.013760915026068687, + 0.9747913990301735, + -0.22269347888716803, + -0.031202703714370728 + ], + [ + 0.005766421556472778, + 0.2226335003074409, + 0.9748851786574187, + 0.004477240610867739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998900890350342, + -0.014628245323680854, + -0.00242339783908804, + -0.007601641118526459 + ], + [ + 0.013715335167944431, + 0.9745542504562503, + -0.22373178907573088, + -0.03116326779127121 + ], + [ + 0.005634536035358906, + 0.22367395682001096, + 0.974647752901568, + 0.004511681385338306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9998914003372195, + -0.014556762345229108, + -0.0022895361266308993, + -0.007476595230400562 + ], + [ + 0.013669752515852455, + 0.9743159949824696, + -0.2247698560993438, + -0.031123826280236244 + ], + [ + 0.005502652842551471, + 0.22471415852423773, + 0.9744092178339546, + 0.004546138923615217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9998927712440493, + -0.014485004567241555, + -0.0021558334284467397, + -0.007351537700742483 + ], + [ + 0.013624161481857303, + 0.9740766346713842, + -0.22580766964408744, + -0.031084392219781876 + ], + [ + 0.005370771978050471, + 0.22575408342958603, + 0.9741695171045284, + 0.004580561071634293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9998940825462341, + -0.014412975353748565, + -0.002022286711944118, + -0.007226469460874796 + ], + [ + 0.013578569516539574, + 0.9738361679579676, + -0.2268452376658274, + -0.031044969335198402 + ], + [ + 0.005238890647888184, + 0.22679374738766395, + 0.9739287083946458, + 0.004614946432411671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9998953938484192, + -0.014340675878227752, + -0.0018889009713447165, + -0.007101407274603844 + ], + [ + 0.013532972894608974, + 0.9735945958206368, + -0.2278825553323916, + -0.03100554831326008 + ], + [ + 0.005107013508677483, + 0.22783314922012138, + 0.9736867919943365, + 0.004649349022656679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9998966455459595, + -0.014268102649597412, + -0.0017556721697167912, + -0.006976329255849123 + ], + [ + 0.013487370684742928, + 0.9733519181424124, + -0.2289196232911112, + -0.030966127291321754 + ], + [ + 0.004975135438144207, + 0.22887228592358994, + 0.9734437685657652, + 0.004683717153966427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9998978972435, + -0.014195259217409618, + -0.0016226029235524156, + -0.006851242855191231 + ], + [ + 0.01344176568090916, + 0.9731080775201634, + -0.22995642478081713, + -0.030926717445254326 + ], + [ + 0.0048432592302560815, + 0.22991114438929866, + 0.973199580009397, + 0.004718049429357052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.99989914894104, + -0.014122142636863804, + -0.001489691941725017, + -0.006726157385855913 + ], + [ + 0.013396155089139938, + 0.97286319140042, + -0.23099298060132778, + -0.030887307599186897 + ], + [ + 0.004711382556706667, + 0.23094973342097141, + 0.9729542854241646, + 0.004752398934215307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9999004006385805, + -0.014048757565523352, + -0.0013569425560780164, + -0.006601059343665838 + ], + [ + 0.013350542634725574, + 0.9726171997573381, + -0.2320292868301152, + -0.030847903341054916 + ], + [ + 0.004579509142786265, + 0.23198806096469898, + 0.972707883232888, + 0.004786713048815727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9999015927314758, + -0.013975103890205315, + -0.0012243533654404902, + -0.006475950591266155 + ], + [ + 0.013304928317666054, + 0.9723700456099621, + -0.23306532469119978, + -0.030808506533503532 + ], + [ + 0.004447637125849724, + 0.23302610459746745, + 0.9724603172499303, + 0.004820991773158312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9999027848243713, + -0.013901176020469237, + -0.0010919241125493058, + -0.006350851152092218 + ], + [ + 0.01325930468738079, + 0.9721218463297422, + -0.23410111536890077, + -0.030769111588597298 + ], + [ + 0.004315763711929321, + 0.23406387696506195, + 0.9722116457893044, + 0.004855287726968527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9999039173126221, + -0.013826979442192815, + -0.0009596574724886745, + -0.0062257335521280766 + ], + [ + 0.013213680125772953, + 0.9718724839489935, + -0.23513664066726883, + -0.03072972036898136 + ], + [ + 0.004183894023299217, + 0.2351013805385641, + 0.9719618683904454, + 0.0048895468935370445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9999051094055176, + -0.013752512885379197, + -0.0008275511009077364, + -0.006100624334067106 + ], + [ + 0.013168049976229668, + 0.9716220773139168, + -0.2361719147340734, + -0.030690329149365425 + ], + [ + 0.004052024334669113, + 0.23613859635794135, + 0.9717109281840343, + 0.004923823289573193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9999062418937683, + -0.013677775600446347, + -0.0006956051650938287, + -0.005975483451038599 + ], + [ + 0.013122417032718658, + 0.9713705088897633, + -0.23720691729413532, + -0.030650954693555832 + ], + [ + 0.003920153249055147, + 0.23717554090468218, + 0.9714588826685664, + 0.004958012606948614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9999073147773743, + -0.013602772181754872, + -0.0005638270281650923, + -0.005850368645042181 + ], + [ + 0.01307678036391735, + 0.9711178380455158, + -0.2382416557792565, + -0.030611570924520493 + ], + [ + 0.0037882893811911345, + 0.23821220571626936, + 0.9712057336966452, + 0.00499227037653327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9999083876609802, + -0.01352749851768853, + -0.00043220995408783084, + -0.0057252198457717896 + ], + [ + 0.01303113903850317, + 0.9708641225497028, + -0.23927614516507, + -0.030572207644581795 + ], + [ + 0.0036564248148351908, + 0.2392485969067466, + 0.9709514800271879, + 0.005026441533118486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9999094605445864, + -0.013451956441837234, + -0.0003007528437474572, + -0.0056000808253884315 + ], + [ + 0.012985494919121269, + 0.9706092468810407, + -0.2403103556825986, + -0.0305328331887722 + ], + [ + 0.0035245576873421678, + 0.24028469708793732, + 0.9706960644816891, + 0.005060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9999105334281921, + -0.013376144464807773, + -0.00016946126636025637, + -0.0054749250411987305 + ], + [ + 0.012939845211803913, + 0.9703532688162487, + -0.2413443022424497, + -0.03049347549676895 + ], + [ + 0.0033926935866475105, + 0.2413205175309738, + 0.9704395456644781, + 0.005094779655337334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9999115467071535, + -0.013300066745860064, + -3.833599719559552e-05, + -0.0053497604094445705 + ], + [ + 0.012894193641841415, + 0.9700961886197694, + -0.24237798366869096, + -0.030454125255346298 + ], + [ + 0.0032608332112431535, + 0.24235606070352086, + 0.9701819230961896, + 0.005128896329551935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9999125599861145, + -0.013223718972091843, + 9.262606890977658e-05, + -0.005224600899964571 + ], + [ + 0.012848534621298313, + 0.9698380077537987, + -0.24341139332730952, + -0.030414769425988197 + ], + [ + 0.0031289716716855764, + 0.2433913072102347, + 0.9699231400546879, + 0.00516302976757288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9999135732650757, + -0.013147104026397655, + 0.00022342126173823372, + -0.005099425092339516 + ], + [ + 0.012802873738110065, + 0.9695787253007463, + -0.2444445355038441, + -0.030375419184565544 + ], + [ + 0.0029971131589263678, + 0.24442627033517433, + 0.9696632547121877, + 0.005197128746658564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9999145269393921, + -0.013070224104483509, + 0.0003540533986122745, + -0.004974259529262781 + ], + [ + 0.012757210060954094, + 0.9693183415288147, + -0.24547740902314735, + -0.03033607266843319 + ], + [ + 0.0028652544133365154, + 0.2454609525445051, + 0.9694022665813022, + 0.005231242161244154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9999154806137085, + -0.012993070831294404, + 0.0004845179927616363, + -0.0048490785993635654 + ], + [ + 0.01271153800189495, + 0.969056857112272, + -0.24651001089220576, + -0.030296729877591133 + ], + [ + 0.0027333965990692377, + 0.24649533425667838, + 0.9691401190040255, + 0.005265321582555771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9999163746833803, + -0.01291565670268299, + 0.0006148154253838045, + -0.004723886493593454 + ], + [ + 0.012665865942835811, + 0.9687942719210023, + -0.24754234175540238, + -0.030257396399974823 + ], + [ + 0.0026015420444309716, + 0.24752943621765416, + 0.9688768684814839, + 0.00529936607927084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9999173283576965, + -0.01283797244463894, + 0.0007449452921339386, + -0.004598680417984724 + ], + [ + 0.012620186433196068, + 0.9685305870445546, + -0.248574396803908, + -0.030218077823519707 + ], + [ + 0.00246968911960721, + 0.24856324271438177, + 0.968612518582306, + 0.0053333742544054985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9999182224273682, + -0.012760023507531635, + 0.0008749138182575705, + -0.004473483189940453 + ], + [ + 0.012574505992233753, + 0.9682658019465251, + -0.24960617849988315, + -0.030178751796483994 + ], + [ + 0.002337831538170576, + 0.24959676711703932, + 0.9683470663675439, + 0.005367399659007788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.999919056892395, + -0.012681810751422246, + 0.0010047095016751917, + -0.0043482729233801365 + ], + [ + 0.012528822757303715, + 0.9679999181397, + -0.2506376802205035, + -0.030139435082674026 + ], + [ + 0.002205980708822608, + 0.2506299823280828, + 0.968080456904726, + 0.005401390139013529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9999199509620667, + -0.012603329277566555, + 0.0011343379064303045, + -0.004223067779093981 + ], + [ + 0.012483133003115654, + 0.9677328757357421, + -0.2516688966033128, + -0.030100110918283463 + ], + [ + 0.00207412987947464, + 0.2516629129754092, + 0.967812745785996, + 0.005435396451503038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9999207854270935, + -0.012524584571063263, + 0.00126379669172331, + -0.004097846336662769 + ], + [ + 0.012437441386282444, + 0.9674647928975774, + -0.2526998456917114, + -0.030060801655054092 + ], + [ + 0.001942281611263752, + 0.25269553365669273, + 0.9675438777217564, + 0.005469367373734713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9999215602874758, + -0.012445573819269667, + 0.0013930864024596999, + -0.003972618840634823 + ], + [ + 0.012391743250191215, + 0.9671955537137645, + -0.25373049970706385, + -0.03002149611711502 + ], + [ + 0.0018104347400367264, + 0.253727873445074, + 0.9672739684168581, + 0.005503304302692413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9999223947525027, + -0.01236629423222652, + 0.0015222074570021692, + -0.00384739157743752 + ], + [ + 0.012346039526164535, + 0.9669252742275726, + -0.2547608860295761, + -0.0299821924418211 + ], + [ + 0.0016785872867330913, + 0.2547599062518726, + 0.9670029016080173, + 0.005537256132811308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9999231696128845, + -0.012286755178064133, + 0.0016511614210343686, + -0.0037221559323370457 + ], + [ + 0.012300335802137852, + 0.9666538373145215, + -0.2557909820674438, + -0.029942896217107773 + ], + [ + 0.001546739600598812, + 0.2557916325317837, + 0.9667306772419669, + 0.005571173503994942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.999923884868622, + -0.012206948146385193, + 0.0017799445199840013, + -0.0035969058517366648 + ], + [ + 0.012254626490175727, + 0.9663813610572123, + -0.2568208063815049, + -0.029903607442975044 + ], + [ + 0.00141489296220243, + 0.2568230744782288, + 0.9664574126024378, + 0.005605055019259453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9999246597290039, + -0.012126882000227488, + 0.0019085523619282762, + -0.0034716438967734575 + ], + [ + 0.012208915315568447, + 0.9661077288135232, + -0.2578503343116177, + -0.029864327982068062 + ], + [ + 0.0012830534251406789, + 0.2578542074337985, + 0.966182991085905, + 0.0056389025412499905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9999253749847412, + -0.012046547649839938, + 0.002036991834694318, + -0.003346386831253767 + ], + [ + 0.012163196690380573, + 0.9658330002036084, + -0.25887957277511325, + -0.029825039207935333 + ], + [ + 0.001151211210526526, + 0.25888503469334617, + 0.9659074732084562, + 0.005672766361385584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999260902404785, + -0.011965952122459413, + 0.002165262255565463, + -0.003221118589863181 + ], + [ + 0.012117477133870125, + 0.9655572317982609, + -0.2599085416346918, + -0.029785774648189545 + ], + [ + 0.001019368413835764, + 0.25991555218750567, + 0.9656307987508195, + 0.00570659339427948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.999926745891571, + -0.011885092969384179, + 0.0022933585541190554, + -0.0030958554707467556 + ], + [ + 0.012071752920746803, + 0.9652803091822773, + -0.26093720678419097, + -0.029746495187282562 + ], + [ + 0.0008875289931893349, + 0.2609457669657755, + 0.9653530273506008, + 0.005740438122302294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999274015426636, + -0.011803968148019296, + 0.0024212820261354613, + -0.002970578381791711 + ], + [ + 0.01202602218836546, + 0.9650022910953098, + -0.26196557896203365, + -0.029707223176956177 + ], + [ + 0.0007556906784884632, + 0.2619756724297087, + 0.965074160650789, + 0.005774248391389847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9999280571937563, + -0.011722583834234449, + 0.0025490316298645036, + -0.0028452908154577017 + ], + [ + 0.011980288662016395, + 0.9647231743520099, + -0.2629936714880727, + -0.029667962342500687 + ], + [ + 0.00062385544879362, + 0.2630052855267299, + 0.964794194643466, + 0.00580802233889699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9999286532402039, + -0.011640936793160729, + 0.002676609608935494, + -0.0027200093027204275 + ], + [ + 0.011934553273022175, + 0.9644429631609125, + -0.2640214668925312, + -0.029628703370690346 + ], + [ + 0.0004920198116451502, + 0.26403457113480083, + 0.9645130765244129, + 0.005841811653226614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9999292492866516, + -0.01155902586784023, + 0.0028040135484477926, + -0.0025947140529751778 + ], + [ + 0.01188881229609251, + 0.9641616573974243, + -0.2650489658210809, + -0.029589446261525154 + ], + [ + 0.0003601855132728815, + 0.26506355105315693, + 0.9642308624168446, + 0.005875567905604839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9999298453330994, + -0.01147685361795899, + 0.0029312454699312804, + -0.0024694062303751707 + ], + [ + 0.011843066662549973, + 0.9638792551600228, + -0.2660761761550187, + -0.029550202190876007 + ], + [ + 0.00022835057461634278, + 0.26609222230788926, + 0.9639475531016205, + 0.005909287370741367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9999303817749026, + -0.01139442035769841, + 0.0030583008919160227, + -0.0023441051598638296 + ], + [ + 0.01179731730371714, + 0.9635957585096617, + -0.2671030894868669, + -0.029510950669646263 + ], + [ + 9.651906293584037e-05, + 0.26712057312856297, + 0.9636630901528938, + 0.005943024531006813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9999309182167053, + -0.011311727153535784, + 0.0031851801313280085, + -0.0022187898866832256 + ], + [ + 0.011751565150916576, + 0.9633111664145927, + -0.26812971007554093, + -0.029471710324287415 + ], + [ + -3.530949470587075e-05, + 0.26814861464006806, + 0.9633775322654887, + 0.005976726301014423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999314546585083, + -0.011228770780893332, + 0.0033118853236792163, + -0.00209346623159945 + ], + [ + 0.011705807410180569, + 0.9630254226606193, + -0.2691560169752524, + -0.029432479292154312 + ], + [ + -0.00016713862714823335, + 0.26917634387115763, + 0.9630908802301195, + 0.006010391749441624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999319911003113, + -0.011145554623267969, + 0.0034384151401833326, + -0.001968147000297904 + ], + [ + 0.011660046875476837, + 0.9627386428252043, + -0.2701820394686864, + -0.02939324453473091 + ], + [ + -0.00029896647902205586, + 0.2702037578529391, + 0.9628031348466533, + 0.006044073961675167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9999324679374695, + -0.011062078179298256, + 0.0035647684621865536, + -0.0018428117036819458 + ], + [ + 0.011614282615482807, + 0.9624507697997943, + -0.27120776029364324, + -0.029354017227888107 + ], + [ + -0.00043079277384094894, + 0.2712308427538185, + 0.9625142381998208, + 0.006077722180634737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9999329447746277, + -0.010978341563358493, + 0.003690945552427802, + -0.0017174679087474942 + ], + [ + 0.011568514630198479, + 0.9621617447303941, + -0.2722331691622384, + -0.029314806684851646 + ], + [ + -0.0005626180209219456, + 0.27225761718427044, + 0.9622242471292899, + 0.00611133361235261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9999333620071413, + -0.01089434292469372, + 0.0038169468376522695, + -0.0015921269077807665 + ], + [ + 0.011522739194333555, + 0.9618716849053854, + -0.27325828850880013, + -0.02927558310329914 + ], + [ + -0.0006944435881450773, + 0.27328405634480174, + 0.96193310646513, + 0.006144962273538113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9999337792396545, + -0.010810087917181882, + 0.003942769657401573, + -0.0014667791547253728 + ], + [ + 0.011476964689791203, + 0.9615804732156321, + -0.274283095243033, + -0.02923637442290783 + ], + [ + -0.0008262660703621805, + 0.27431019905822746, + 0.9616409294143707, + 0.006178554613143206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.999934196472168, + -0.010725572346401252, + 0.004068412344591686, + -0.0013414137065410614 + ], + [ + 0.011431182734668255, + 0.961288229195963, + -0.27530760303031193, + -0.029197171330451965 + ], + [ + -0.0009580852347426116, + 0.2753360004460833, + 0.9613476044331886, + 0.0062121134251356125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9999346137046814, + -0.010640796021144377, + 0.004193880125790335, + -0.0012160565238445997 + ], + [ + 0.011385397985577583, + 0.9609948339623622, + -0.27633179574722405, + -0.029157966375350952 + ], + [ + -0.001089907018467784, + 0.27636146999166405, + 0.9610531291766817, + 0.006245688069611788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9999349713325503, + -0.010555763286861747, + 0.004319167979868875, + -0.0010906794341281056 + ], + [ + 0.011339609511196615, + 0.9607004046977272, + -0.2773556963401491, + -0.029118770733475685 + ], + [ + -0.0012217252515256407, + 0.2773866342567213, + 0.9607576199503458, + 0.006279227323830128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9999353289604187, + -0.010470472631665126, + 0.00444427503546026, + -0.0009653015877120197 + ], + [ + 0.011293817311525345, + 0.9604048257880698, + -0.278379275794241, + -0.029079582542181015 + ], + [ + -0.0013535405742004514, + 0.27841146423114754, + 0.9604609611795722, + 0.006312731187790632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9999356269836426, + -0.010384924343228524, + 0.004569204609101149, + -0.0008399263024330139 + ], + [ + 0.011248022317886353, + 0.9601081552824299, + -0.27940254773909184, + -0.029040392488241196 + ], + [ + -0.0014853563625365496, + 0.27943595495880924, + 0.9601631541990617, + 0.006346250884234905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9999359250068667, + -0.01029911463853786, + 0.004693953425328965, + -0.0007145312847569585 + ], + [ + 0.011202219873666765, + 0.9598103944324053, + -0.2804255074047379, + -0.029001209884881973 + ], + [ + -0.001617170870304108, + 0.2804601351889745, + 0.9598643147680772, + 0.006379737984389067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9999362230300903, + -0.010213049791102331, + 0.004818523952547195, + -0.0005891278269700706 + ], + [ + 0.0111564164981246, + 0.9595116012194719, + -0.28144816874048734, + -0.028962036594748497 + ], + [ + -0.0017489854944869876, + 0.28148397012815274, + 0.959564328830653, + 0.0064131878316402435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9999365210533142, + -0.010126725699291166, + 0.004942914151888525, + -0.00046373638906516135 + ], + [ + 0.011110605672001839, + 0.959211660163674, + -0.28247050222662656, + -0.02892286144196987 + ], + [ + -0.0018807994201779366, + 0.2825074826142428, + 0.959263252082838, + 0.006446653511375189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9999367594718933, + -0.010040148522933624, + 0.0050671196195711645, + -0.0003383270523045212 + ], + [ + 0.011064795777201653, + 0.9589106278310446, + -0.28349252715065393, + -0.028883695602416992 + ], + [ + -0.0020126078743487597, + 0.28353066608425553, + 0.9589610863015641, + 0.006480084266513586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9999369978904724, + -0.009953312330825425, + 0.005191145288721604, + -0.0002129242493538186 + ], + [ + 0.01101897843182087, + 0.9586085069165409, + -0.2845142333441941, + -0.028844516724348068 + ], + [ + -0.00214441679418087, + 0.28455350588211975, + 0.9586577737687582, + 0.006513532716780901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.999937176704407, + -0.009866218968676437, + 0.005314988507413022, + -8.749047265155241e-05 + ], + [ + 0.010973156429827215, + 0.9583052963148695, + -0.2855356250472843, + -0.02880537137389183 + ], + [ + -0.0022762245498597626, + 0.2855760142257855, + 0.9583533729681557, + 0.006546891760081053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9999374151229858, + -0.009778787180923289, + 0.0054387660951452045, + 3.805300366366282e-05 + ], + [ + 0.010927286930382252, + 0.9580010045400772, + -0.28655667051044587, + -0.028766168281435966 + ], + [ + -0.0024081668816506863, + 0.2865981475460153, + 0.958047833927462, + 0.006580328103154898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1048.70556640625, + "fy": 1048.7056477864583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/600167f4-5e14-4f18-9de3-81a847e45131/orbit_left/transforms.json b/dynpose_eval/camera_controls/600167f4-5e14-4f18-9de3-81a847e45131/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f0c5293cf70f6cbf46dc551c144a6ad113d5233d --- /dev/null +++ b/dynpose_eval/camera_controls/600167f4-5e14-4f18-9de3-81a847e45131/orbit_left/transforms.json @@ -0,0 +1,4458 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 127, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00011904790881089866, + 0.00017110885528381914, + -0.0012497339630499482 + ], + [ + 0.00011901954712811857, + 1.0, + 0.00016577083442825824, + -0.0011734981089830399 + ], + [ + -0.0001711285876808688, + -0.00016575046174693853, + 1.0, + -0.0006583378417417407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999910221836485, + 0.004019240383058786, + -0.0013529498470157312, + -0.01328174894090536 + ], + [ + -0.004019448818330142, + 0.9999918937683105, + -0.00015128278564255202, + -0.0016861804128879825 + ], + [ + 0.0013523310292191837, + 0.00015671954315621406, + 0.9999990675422977, + 0.0012585107069754049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999667149964612, + 0.007708668243139982, + -0.0026638081175272875, + -0.0269954784677463 + ], + [ + -0.007708684538560484, + 0.9999703168869019, + 4.040827661864388e-06, + -0.006421717314214847 + ], + [ + 0.002663759957133281, + 1.6493762814207003e-05, + 0.9999964577708791, + 0.0011527761246633143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999257514971459, + 0.011341854929924011, + -0.00445039203729843, + -0.03722280321042511 + ], + [ + -0.011341184119783559, + 0.9999356865882874, + 0.00017587956200452846, + -0.010840105620830197 + ], + [ + 0.004452099627245562, + -0.00012539379531517625, + 0.9999900768023942, + 0.0022824201910640963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998678780021576, + 0.014995229430496693, + -0.006275336026735514, + -0.04816175771537683 + ], + [ + -0.014996188962039195, + 0.9998875260353088, + -0.0001059883492523309, + -0.011731901322703247 + ], + [ + 0.006273042067441252, + 0.00020008045248687267, + 0.9999802771790393, + 0.0032116211585293325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998033464481452, + 0.018580080941319466, + -0.006928083759989417, + -0.06793681735176017 + ], + [ + -0.018585299917577257, + 0.9998270273208618, + -0.0006896660593230849, + -0.0098099222871005 + ], + [ + 0.006914072844267274, + 0.0008182909223251045, + 0.9999757656442715, + 0.0033711775749358033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997081926393018, + 0.022205714136362076, + -0.009509677171726013, + -0.07038728203779461 + ], + [ + -0.02221646685138672, + 0.9997526407241821, + -0.0010264799565524218, + -0.010486344044977051 + ], + [ + 0.009484531790197846, + 0.0012374517973512411, + 0.9999542442859847, + 0.005492106524877195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996106385249321, + 0.025690764188766486, + -0.01088823357524709, + -0.0822675119719746 + ], + [ + -0.025702297509821823, + 0.9996691942214968, + -0.0009205160762776135, + -0.014533445696927112 + ], + [ + 0.010860983689462353, + 0.0012000103015452626, + 0.9999403079920077, + 0.00792774086626378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995139366259509, + 0.029047207906842232, + -0.011319766119789144, + -0.10321965714373045 + ], + [ + -0.029062819350113428, + 0.9995768666267395, + -0.0012170203530600858, + -0.014940804114254285 + ], + [ + 0.011279625693361288, + 0.001545413164421916, + 0.9999352093077127, + 0.006725727756374647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993744583891496, + 0.03286534547805787, + -0.013058591670340812, + -0.11265434441962846 + ], + [ + -0.032894913665630625, + 0.9994567036628725, + -0.002055749246499556, + -0.010609939420118338 + ], + [ + 0.012983933633994672, + 0.0024840245023369793, + 0.9999126381032121, + 0.0059332664464577045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992223156587985, + 0.03656056895852089, + -0.014769278674607164, + -0.12180937427894795 + ], + [ + -0.03659908003489137, + 0.9993273019790649, + -0.0023458289138924525, + -0.010968786107096536 + ], + [ + 0.014673579603456614, + 0.0028845465276390314, + 0.9998881623457636, + 0.005274863888979346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990806194399454, + 0.03990233317017556, + -0.015676305319131046, + -0.13766732111603128 + ], + [ + -0.03995175643932283, + 0.9991975426673891, + -0.0028519783746185886, + -0.010400772799364837 + ], + [ + 0.015549927582090865, + 0.0034756520763039598, + 0.999873064193329, + 0.005289824790425882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9989251310612951, + 0.04320862144231796, + -0.016780252656746014, + -0.1528162295579612 + ], + [ + -0.043282041498754455, + 0.9990547299385071, + -0.004036989750947418, + -0.0033856145498517886 + ], + [ + 0.016589956095200097, + 0.004758933559060097, + 0.9998510435269394, + 0.007083657945128729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9987165958184868, + 0.046981099992990494, + -0.018917879360826197, + -0.15862241353539816 + ], + [ + -0.04705393737318307, + 0.9988864660263062, + -0.0034234311355582094, + -0.01131869079868041 + ], + [ + 0.018735979309480993, + 0.004309197887778282, + 0.9998151870056634, + 0.008001083828103175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9985428734527212, + 0.05030188709497452, + -0.019540953223176304, + -0.17662994867397452 + ], + [ + -0.050381239427974324, + 0.9987236261367798, + -0.0035894795921893193, + -0.012731566702934398 + ], + [ + 0.01933545700889385, + 0.004568746779114008, + 0.9998025977693972, + 0.007123676259670364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9983291777686553, + 0.05368033051490785, + -0.021385064595659874, + -0.1840682844826129 + ], + [ + -0.0537781954331261, + 0.9985448122024538, + -0.004027352507424677, + -0.011759700211785129 + ], + [ + 0.021137757899626575, + 0.005170673597604037, + 0.9997632292370957, + 0.00793403246220808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9980868498472837, + 0.05733147636055948, + -0.023146021222391032, + -0.1922224659459866 + ], + [ + -0.05744566161707908, + 0.9983393549919131, + -0.004298330427615638, + -0.012148630228366224 + ], + [ + 0.022861151781434483, + 0.005619744770228864, + 0.9997228369947945, + 0.009902745411303284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9978847731661502, + 0.060562584549188614, + -0.02362516324735813, + -0.21196251156499873 + ], + [ + -0.0606857260575413, + 0.998146653175354, + -0.004530044662053023, + -0.012579355896174945 + ], + [ + 0.023307024120485357, + 0.00595417246222496, + 0.9997106193097276, + 0.0077632045780000325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9976186159542597, + 0.06421750038862228, + -0.025163734641683196, + -0.22272830385001785 + ], + [ + -0.06436457785572691, + 0.9979135394096375, + -0.0050780919885384185, + -0.010708242363324483 + ], + [ + 0.024785128614309954, + 0.0066856518387794495, + 0.9996704203207899, + 0.007585519669739844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973498954782636, + 0.06763767451047897, + -0.026801063645405312, + -0.23283499875462893 + ], + [ + -0.0678131039331786, + 0.9976817965507507, + -0.005690484544026217, + -0.008074598997044187 + ], + [ + 0.02635404200405694, + 0.007492867298424244, + 0.9996245718734397, + 0.007291954326350958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.997063617934935, + 0.07123117893934251, + -0.028111652397403458, + -0.24560557605067868 + ], + [ + -0.0714318683491457, + 0.9974262118339541, + -0.006199347709112343, + -0.006340706902685643 + ], + [ + 0.02759771408259112, + 0.008189212530851366, + 0.9995855691697157, + 0.006932564598144123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9967693626506483, + 0.07475762814283371, + -0.029361773409029488, + -0.26031736527790117 + ], + [ + -0.07495898219872844, + 0.9971696734428406, + -0.005816452335420043, + -0.011315393049086134 + ], + [ + 0.028843849456360624, + 0.007998590357601643, + 0.9995519106823444, + 0.004960951900605976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9964309651130591, + 0.07839466631412507, + -0.03129928250934446, + -0.269773805151899 + ], + [ + -0.07862820189554975, + 0.9968841075897219, + -0.006299760394391411, + -0.009593152780216888 + ], + [ + 0.030707889698398154, + 0.008738283067941667, + 0.9994901871775926, + -0.001848864982159873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9961051664002465, + 0.0819021463394165, + -0.032658194303969906, + -0.28187896438099275 + ], + [ + -0.08214037571235128, + 0.9966025948524475, + -0.006018709246571319, + -0.014199453458642746 + ], + [ + 0.03205429083582652, + 0.008677823469042778, + 0.9994484525736798, + -0.018914995688162142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9957490127879078, + 0.0856006368994713, + -0.03400617940514231, + -0.29317886560626577 + ], + [ + -0.08588305075311653, + 0.996281147003174, + -0.006929844772728983, + -0.01054338680840804 + ], + [ + 0.03328651365178279, + 0.009820939972996713, + 0.9993976070649663, + -0.039176631344449125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9953931494391456, + 0.08903386443853378, + -0.03557380801317703, + -0.3018129858960505 + ], + [ + -0.0893054828846944, + 0.9959855079650879, + -0.006117520740357448, + -0.021135730775806952 + ], + [ + 0.03488633647620901, + 0.00926627404987812, + 0.9993483141680963, + -0.0637651525902299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9950257959484577, + 0.0926445871591568, + -0.03661465276799435, + -0.3160754539268093 + ], + [ + -0.09294809990580176, + 0.9956486225128174, + -0.006672460297361421, + -0.02013719854938443 + ], + [ + 0.03583715369612953, + 0.010042531415820122, + 0.9993071648884352, + -0.08795127980643518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9946294412780483, + 0.09611658751964572, + -0.0383914427860674, + -0.32290217984834696 + ], + [ + -0.09648167344360777, + 0.9953044652938845, + -0.00776850520310646, + -0.01581087763609148 + ], + [ + 0.037464492427770994, + 0.011430853977799417, + 0.999232559303336, + -0.11037335349047861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9942564155360619, + 0.09958234429359436, + -0.03921163434954773, + -0.33795249319353604 + ], + [ + -0.09998420307998322, + 0.9949533939361572, + -0.008419629962544141, + -0.01443690277610377 + ], + [ + 0.03817530420528585, + 0.012291815131902695, + 0.9991954496868275, + -0.13277993284942213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9938223872410881, + 0.10322397947311404, + -0.04076635964450962, + -0.34622140090296843 + ], + [ + -0.10363876317331025, + 0.9945812821388247, + -0.008190206068404265, + -0.020194881180888476 + ], + [ + 0.03970003313753568, + 0.012364584952592853, + 0.9991351544797957, + -0.1525481697773684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9934388318735892, + 0.10646514594554904, + -0.04176716954787283, + -0.3599127382586674 + ], + [ + -0.10695848552475658, + 0.9942156672477724, + -0.009753981447878065, + -0.011325408175500134 + ], + [ + 0.04048711274185371, + 0.014157336205244068, + 0.9990797563996069, + -0.17545347191229368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9930017709386628, + 0.10992173105478287, + -0.04318245446410665, + -0.3696206797837809 + ], + [ + -0.11043123640870342, + 0.9938375353813171, + -0.009588818197093745, + -0.01628320352846856 + ], + [ + 0.04186233267991732, + 0.014290405437350273, + 0.9990211743781997, + -0.19875664563718717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.992550633482734, + 0.1132456511259079, + -0.044929028342082386, + -0.377674595027869 + ], + [ + -0.11385828554884136, + 0.9934325814247131, + -0.011311117387648272, + -0.006301703661954111 + ], + [ + 0.043353018414954925, + 0.016342397779226303, + 0.9989261611732929, + -0.21841501554142473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9921065437612623, + 0.1166134923696518, + -0.04610754022875973, + -0.39066131835411166 + ], + [ + -0.11725982481240182, + 0.9930339455604553, + -0.011561805282066137, + -0.00890479255868678 + ], + [ + 0.0444380978832099, + 0.016877103596925735, + 0.9988695649870356, + -0.23578738288268145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9916182462389951, + 0.12012772262096408, + -0.04756628195568053, + -0.4006568246919757 + ], + [ + -0.12082542626212785, + 0.9926004409790041, + -0.012064725325428412, + -0.00959768806021787 + ], + [ + 0.04576501310776536, + 0.017710817977786068, + 0.9987951949461111, + -0.25257470869124454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9911098057868791, + 0.12362850457429886, + -0.04916653838749113, + -0.41053024137238725 + ], + [ + -0.12441689728695962, + 0.9921408891677856, + -0.01330000089920179, + -0.004317905078073576 + ], + [ + 0.047135870755468996, + 0.019298909232020378, + 0.9987020240308553, + -0.2656677892470212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9905955833081189, + 0.1270028203725815, + -0.050898582747297076, + -0.4189623880072529 + ], + [ + -0.12789499884662295, + 0.99167937040329, + -0.014659552196290107, + 0.00044738577812060074 + ], + [ + 0.048613275838996585, + 0.021031361073255542, + 0.998596201283926, + -0.2756038456318557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9900947966337726, + 0.13022641837596893, + -0.05247287944063691, + -0.42886200342870684 + ], + [ + -0.13121482601772094, + 0.991227388381958, + -0.015839034958374142, + 0.0021323340702198434 + ], + [ + 0.04994989662386475, + 0.022567367181181908, + 0.998496752522638, + -0.2850958204600112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9895584231040316, + 0.13365314900875092, + -0.053953356937809345, + -0.4417158856448049 + ], + [ + -0.13473362421294496, + 0.990737795829773, + -0.01689539208206027, + 0.0021900665551655724 + ], + [ + 0.05119549933763117, + 0.023988308385014534, + 0.9984005185168853, + -0.28975890487757305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9889666157938525, + 0.1369377076625824, + -0.05650740956545119, + -0.44459629043523996 + ], + [ + -0.1381932612114681, + 0.9902244210243225, + -0.018925819086554524, + 0.00901012922321026 + ], + [ + 0.05336337231233014, + 0.026525944471359253, + 0.9982227939868772, + -0.29317555309877025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9884360304146872, + 0.14015540480613708, + -0.05788494189647931, + -0.4592924384069532 + ], + [ + -0.14150033958191194, + 0.9897400140762329, + -0.019808487498980926, + 0.00385887069904183 + ], + [ + 0.05451477206308358, + 0.027770157903432846, + 0.9981267525210524, + -0.29439398277130446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9878740499283827, + 0.14364729821681976, + -0.05890979757247534, + -0.4766069884458339 + ], + [ + -0.14501449991926904, + 0.9892352223396301, + -0.01960796022502795, + -0.01010135690597755 + ], + [ + 0.055459006236240636, + 0.027912966907024384, + 0.9980706974950565, + -0.2981931054488351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9872055012303488, + 0.14716683328151706, + -0.06137772123619483, + -0.4812639502243991 + ], + [ + -0.1487245541339547, + 0.9886425137519839, + -0.02160890797951837, + -0.007174150271994905 + ], + [ + 0.05750052547818777, + 0.030460808426141746, + 0.9978806437372011, + -0.29991252938204316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9866345809253971, + 0.15032605826854706, + -0.06288316627910018, + -0.49640552268203436 + ], + [ + -0.1520387037861249, + 0.98809814453125, + -0.023372789529304758, + -0.00738391105809817 + ], + [ + 0.058621209833639026, + 0.032621078193187714, + 0.997747191331988, + -0.30062319599958665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9860648671723454, + 0.1534813791513443, + -0.06418386814065195, + -0.5140504994410199 + ], + [ + -0.15535362119039947, + 0.9875363111495972, + -0.02524467330158687, + -0.006302091545452649 + ], + [ + 0.05950930073390372, + 0.03486407548189163, + 0.9976187268033884, + -0.30389749810363836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.985420611530632, + 0.15671803057193756, + -0.06622479939604357, + -0.5253680082260627 + ], + [ + -0.15879888580357931, + 0.9869309663772583, + -0.02738864934814814, + -0.0037408934917739656 + ], + [ + 0.06106701426319557, + 0.03750576078891754, + 0.9974287370313791, + -0.30641693301341766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9847041632843538, + 0.16032716631889343, + -0.06821217169463556, + -0.5377692097263801 + ], + [ + -0.1625891523306643, + 0.9862682819366455, + -0.028977524731955893, + -0.007780068766712566 + ], + [ + 0.06262961515831648, + 0.03962484747171402, + 0.9972498983406426, + -0.30783306671195043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9839966288185616, + 0.16353778541088107, + -0.07075350171792207, + -0.5473046938151025 + ], + [ + -0.16604627548361475, + 0.985626816749573, + -0.031118711662987353, + -0.00730378944135892 + ], + [ + 0.0646474606198751, + 0.042369060218334205, + 0.9970083191073889, + -0.30984316093980346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9832975662705927, + 0.16713690757751468, + -0.07204995775242636, + -0.5701495535894153 + ], + [ + -0.1697232084019031, + 0.984992563724518, + -0.03136441536652898, + -0.02508303089940443 + ], + [ + 0.06572652119917, + 0.043069098144769676, + 0.996907783927005, + -0.312823660053299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9824830329396831, + 0.17082284390926364, + -0.07447611965088614, + -0.5832066988705386 + ], + [ + -0.17367755819196573, + 0.9842271804809573, + -0.03365876471201053, + -0.02692797199723379 + ], + [ + 0.06755174516262785, + 0.04600398987531663, + 0.9966545768790505, + -0.31506304226659315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9816177859205736, + 0.1744358986616135, + -0.0774511908047375, + -0.5910693748284283 + ], + [ + -0.1775740663614581, + 0.9834626913070681, + -0.03561807591343921, + -0.031377233738978126 + ], + [ + 0.06995729064617473, + 0.048716656863689436, + 0.9963597065526262, + -0.3160582379185368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9809258861576884, + 0.17755886912345886, + -0.07910295387653202, + -0.6123910357160893 + ], + [ + -0.1809926964826409, + 0.9827292561531067, + -0.038533494781947425, + -0.03033222893010395 + ], + [ + 0.07089483685641296, + 0.052115559577941895, + 0.9961214184228867, + -0.320070429770129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9801262902785637, + 0.1807222813367844, + -0.08180395810256247, + -0.6249938666718282 + ], + [ + -0.18453978271091198, + 0.9819384813308718, + -0.04173542981705616, + -0.027451463747961223 + ], + [ + 0.0727839324863507, + 0.05600207298994066, + 0.9957741899985001, + -0.32296615009654167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9792964957981272, + 0.18392564356327057, + -0.08455609717418001, + -0.6376446433360418 + ], + [ + -0.18810156214067564, + 0.981148362159729, + -0.0443356651517643, + -0.029793249201065825 + ], + [ + 0.07480762672324086, + 0.059322893619537354, + 0.9954318570415395, + -0.32105445402665006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9783788963788626, + 0.18720576167106628, + -0.0879129672317204, + -0.6538550971379244 + ], + [ + -0.19190639231865378, + 0.9802193641662598, + -0.04839410825714072, + -0.02318006909896256 + ], + [ + 0.07711434342174624, + 0.06421883404254913, + 0.9949519451487904, + -0.28526630180424384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9775155484967688, + 0.1903785765171051, + -0.09066042811895243, + -0.6774867234971567 + ], + [ + -0.19551811147279566, + 0.9793428182601929, + -0.051578163603938056, + -0.022450243579101536 + ], + [ + 0.07896826373658601, + 0.06814420968294144, + 0.9945453368962125, + -0.2391927045158319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9765805908301834, + 0.19370327889919287, + -0.09364492793843587, + -0.7010559874772021 + ], + [ + -0.19918031182102366, + 0.9785231947898867, + -0.053099097089835616, + -0.03789386412354488 + ], + [ + 0.0813482849312404, + 0.07050777226686479, + 0.9941886443668274, + -0.1788063614049767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9757621978262492, + 0.19687172770500183, + -0.09554906725623162, + -0.7354762970031342 + ], + [ + -0.20266940834907438, + 0.9776879549026489, + -0.055238973724722765, + -0.04867592019076934 + ], + [ + 0.08254218809501938, + 0.0732649713754654, + 0.9938908650887462, + -0.1198016649184393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9748782731367707, + 0.20015650987625122, + -0.09772247076526361, + -0.770525800977977 + ], + [ + -0.20631305393829844, + 0.9767956733703613, + -0.05749030592689248, + -0.05742084549976778 + ], + [ + 0.08394783474470059, + 0.0762074664235115, + 0.9935517813819927, + -0.05253466594453099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9740968655623315, + 0.20295442640781403, + -0.09972370114658315, + -0.8075588281050917 + ], + [ + -0.20955872504718653, + 0.9759016036987305, + -0.06083744485255557, + -0.056054999814212005 + ], + [ + 0.08497328759529527, + 0.08015953749418259, + 0.9931535534107994, + 0.012580154972589465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9730829492173175, + 0.20633618533611303, + -0.10263976378036122, + -0.8379200596364316 + ], + [ + -0.21336494439235873, + 0.9749462604522707, + -0.06289079046943968, + -0.06680356682554689 + ], + [ + 0.08709160682342733, + 0.08309768140316011, + 0.9927284783543482, + 0.08392478898970791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9720989064271253, + 0.2095490843057633, + -0.1054177747765161, + -0.8722246069101159 + ], + [ + -0.21703987688020687, + 0.973972797393799, + -0.06535074776021442, + -0.07360962233479143 + ], + [ + 0.08897984215518552, + 0.08640724420547487, + 0.9922783754499164, + 0.15643749607156096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9711905829751124, + 0.21262295544147497, + -0.10761187724004259, + -0.9128919441729875 + ], + [ + -0.22049603250245994, + 0.9730589985847475, + -0.06736250901824038, + -0.08286808520791017 + ], + [ + 0.09038989462851671, + 0.08914982527494432, + 0.9919082375510542, + 0.2298083853933326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9701274708844599, + 0.21595065295696264, + -0.1105352340194448, + -0.9487430620842312 + ], + [ + -0.224282267559625, + 0.9720526337623598, + -0.06936234619746307, + -0.09302512471883219 + ], + [ + 0.09246722777217971, + 0.09208139777183534, + 0.9914488734459693, + 0.3048359841491023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9691173902205424, + 0.21902641654014593, + -0.11330882212726666, + -0.9864091425912466 + ], + [ + -0.22782818217053533, + 0.9710725545883181, + -0.07150134137917405, + -0.100853644078394 + ], + [ + 0.09437039943392331, + 0.09510813653469088, + 0.990983695564288, + 0.3787636774771329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9681517437809315, + 0.22204749286174774, + -0.11565959921557302, + -1.0296936855564058 + ], + [ + -0.23135158601322037, + 0.9700307846069336, + -0.07427435934949371, + -0.10360654856275661 + ], + [ + 0.09570093163953299, + 0.09866688400506973, + 0.9905080437404695, + 0.4533033203034504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9672033960304517, + 0.22506792843341827, + -0.11773734782998335, + -1.0749407722383044 + ], + [ + -0.23475563533691876, + 0.9690789580345154, + -0.07599842480906435, + -0.1130446408221194 + ], + [ + 0.09699199336184838, + 0.1011454313993454, + 0.9901323986203083, + 0.5306206727889516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9661219615416091, + 0.22831712663173676, + -0.1203314491446637, + -1.1155215329948882 + ], + [ + -0.23839926585262375, + 0.9680933952331543, + -0.07720718339064192, + -0.12669493201890458 + ], + [ + 0.09886435618349965, + 0.10327848792076111, + 0.9897268980861725, + 0.6071684094676655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9651630963637552, + 0.23148858547210693, + -0.12195589745511089, + -1.1654304545819016 + ], + [ + -0.24197309685534693, + 0.9670255184173584, + -0.07943974697682432, + -0.1308701097087034 + ], + [ + 0.0995450870884665, + 0.10618235915899277, + 0.9893513228860807, + 0.6808983436199996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9639734883771056, + 0.23494148254394537, + -0.12473001269542616, + -1.2087631756870554 + ], + [ + -0.2458022298924164, + 0.9660037159919741, + -0.08011314201666248, + -0.14667670747433575 + ], + [ + 0.10166775730044074, + 0.10788585245609286, + 0.9889511551407038, + 0.7620200106573519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.962842279682855, + 0.2381673306226731, + -0.12732278153634286, + -1.2523023783412561 + ], + [ + -0.24944345502486762, + 0.9649714827537539, + -0.08128967685148515, + -0.15764108592713433 + ], + [ + 0.1035023097284984, + 0.11002896726131442, + 0.9885245871260671, + 0.838667661970251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9618244658093779, + 0.24108576774597174, + -0.129504241111351, + -1.3010424962744658 + ], + [ + -0.252797309147499, + 0.9639505147933962, + -0.08302329147180615, + -0.16279347647353498 + ], + [ + 0.1048199497285712, + 0.11259216070175174, + 0.98809707130727, + 0.9166180172883601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9607524651603429, + 0.24424582719802862, + -0.13152434020612544, + -1.3504031737063396 + ], + [ + -0.2563511549549104, + 0.9628862738609316, + -0.08446396018128707, + -0.16968741141829255 + ], + [ + 0.10601299584821264, + 0.11486537009477618, + 0.9877080495779311, + 0.9954300361746193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9595729985226766, + 0.24751538038253784, + -0.13399935596249324, + -1.3999093763738828 + ], + [ + -0.26003368634794083, + 0.9618048667907715, + -0.08552146271996298, + -0.17728289814467965 + ], + [ + 0.1077133672153707, + 0.11690842360258102, + 0.9872842884164849, + 1.0793437735527451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9584165234633909, + 0.25091230869293213, + -0.13594421519452185, + -1.453295256814804 + ], + [ + -0.26376863360345454, + 0.9607078433036804, + -0.08640906291532617, + -0.18414136887582253 + ], + [ + 0.10892160542278186, + 0.11867368966341019, + 0.9869410329840983, + 1.158930763964605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9572294834874991, + 0.25420400500297546, + -0.13817391297648207, + -1.5054896679372718 + ], + [ + -0.2675294715828795, + 0.9595121741294861, + -0.08811542538230871, + -0.18080384440304006 + ], + [ + 0.11018024375545943, + 0.12131227552890778, + 0.9864804393140183, + 1.237369775258794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9558906031174006, + 0.25773838162422186, + -0.1408688998920921, + -1.556365952541702 + ], + [ + -0.27151094106514856, + 0.9583084583282473, + -0.08903237081287793, + -0.1796017705549408 + ], + [ + 0.11204879034995488, + 0.12335266172885898, + 0.986016838348903, + 1.3189005807907987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9545797179207233, + 0.2615721523761749, + -0.14268015991111466, + -1.6119673051107193 + ], + [ + -0.2755532503481085, + 0.9571778178215027, + -0.08877533363539493, + -0.18266078235810215 + ], + [ + 0.11334913033115214, + 0.12405909597873688, + 0.9857795351591517, + 1.3965341277105054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.95325030693537, + 0.26540929079055786, + -0.14447056584223475, + -1.6702067295098122 + ], + [ + -0.27960978884997617, + 0.9560152292251587, + -0.08861885189712339, + -0.18242260118151743 + ], + [ + 0.11459575748145807, + 0.12487132847309113, + 0.9855328486113039, + 1.4770139940058806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9518643638172364, + 0.2693474292755127, + -0.14630861419570915, + -1.72926776229212 + ], + [ + -0.2837564209556124, + 0.9548224210739136, + -0.08829739685024532, + -0.17753482361877757 + ], + [ + 0.11591604901206173, + 0.1255631446838379, + 0.985290515636229, + 1.5608080267762232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9502662738616073, + 0.27399787306785583, + -0.14805116434798743, + -1.7896434302651505 + ], + [ + -0.28845322849144844, + 0.9535622596740723, + -0.08668194820866923, + -0.1805948778993161 + ], + [ + 0.1174253534471155, + 0.1250767707824707, + 0.985173637190007, + 1.639096531648473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9486902986408587, + 0.27768245339393616, + -0.1512584391650926, + -1.842347246378899 + ], + [ + -0.2926183754765673, + 0.9522503614425659, + -0.08714214219352658, + -0.17118318349795414 + ], + [ + 0.11983802331899045, + 0.12693190574645996, + 0.9846457055495915, + 1.722770148783883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9471003735506149, + 0.28211039304733276, + -0.15301822392772438, + -1.9072117249558638 + ], + [ + -0.2971756626048572, + 0.9509242177009583, + -0.08619608232182036, + -0.1696261941600806 + ], + [ + 0.12119191501833447, + 0.12710963189601898, + 0.9844570486815384, + 1.8038557758703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9456340224592257, + 0.2861402928829193, + -0.15459621977174798, + -1.9715464127835773 + ], + [ + -0.30143384460652145, + 0.9495783448219299, + -0.08624719615870567, + -0.15970370627978137 + ], + [ + 0.12212240459962861, + 0.1281588077545166, + 0.9842059901814852, + 1.878681596209344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.944026907205027, + 0.29002198576927185, + -0.15716375335871421, + -2.033622627067165 + ], + [ + -0.30570966017008977, + 0.9481816291809082, + -0.08656335575976154, + -0.14893900794474962 + ], + [ + 0.1239145043537868, + 0.1297646015882492, + 0.9837714693301571, + 1.959153543847601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9422581242521674, + 0.29452380537986755, + -0.15939056489153852, + -2.1003531732439686 + ], + [ + -0.3104407235226838, + 0.9467057585716248, + -0.08587667430491851, + -0.14398116196459365 + ], + [ + 0.1256032626603741, + 0.13039931654930115, + 0.9834733464305486, + 2.041517973448943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.940329143735686, + 0.2994079291820526, + -0.1616662698506357, + -2.1664379220304197 + ], + [ + -0.31546477271112133, + 0.9451746940612793, + -0.0844203963202633, + -0.14105189626794312 + ], + [ + 0.1275267180091324, + 0.1303829550743103, + 0.9832279573294761, + 2.1181177425519397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9384457283755983, + 0.3038051128387452, + -0.16438385564483754, + -2.2308711798513077 + ], + [ + -0.3201621745397577, + 0.9436529874801638, + -0.0837565490848837, + -0.13279607750953332 + ], + [ + 0.12967565284063534, + 0.1312304735183716, + 0.98283408587688, + 2.1974429973636083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9366347285812561, + 0.3080458343029022, + -0.16680286721947585, + -2.2954773454259074 + ], + [ + -0.3246948043691774, + 0.9421420097351074, + -0.08331680662507121, + -0.12376409386386421 + ], + [ + 0.13148660429982115, + 0.13219742476940155, + 0.9824637782376039, + 2.2731576787118195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9349970315003022, + 0.3121398389339447, + -0.16837242009361192, + -2.3667378897455893 + ], + [ + -0.3291060946356118, + 0.9405576586723328, + -0.08390771087059448, + -0.10797185004462767 + ], + [ + 0.13217304186676207, + 0.1338658332824707, + 0.9821457273591532, + 2.3447689494272037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9331363428329728, + 0.3166799247264862, + -0.17020684347881954, + -2.440004876606119 + ], + [ + -0.33381730147987, + 0.9389673471450806, + -0.08310447241628263, + -0.09841343063997805 + ], + [ + 0.13350113112175618, + 0.13436578214168549, + 0.9818977710503773, + 2.419950507148253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9310308064950518, + 0.3215569853782654, + -0.1725767922571112, + -2.511219616865943 + ], + [ + -0.33896383026776983, + 0.937179446220398, + -0.08245127759527492, + -0.08689325952705011 + ], + [ + 0.13522261277624884, + 0.13526195287704468, + 0.9815391436937368, + 2.4917318041879826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9290429153495793, + 0.32578930258750916, + -0.17532986560004346, + -2.5791710800951186 + ], + [ + -0.34363383969126876, + 0.9354615807533264, + -0.08262832780617173, + -0.07034591778369537 + ], + [ + 0.13709493522063237, + 0.13701453804969788, + 0.9810362062764308, + 2.5609060243889297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9270611801350997, + 0.3306114375591278, + -0.17678694216087873, + -2.654520100832039 + ], + [ + -0.34847768382630007, + 0.9338036775588989, + -0.08108043632568686, + -0.06247084067404045 + ], + [ + 0.13827816506206367, + 0.13677282631397247, + 0.9809038296502374, + 2.6277575381234404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.925138737925151, + 0.33470940589904785, + -0.17913108231740638, + -2.7250279427453816 + ], + [ + -0.35301376370060156, + 0.9320513606071472, + -0.08161806821604706, + -0.04406375350131789 + ], + [ + 0.13964103448146997, + 0.13874375820159912, + 0.9804338645383759, + 2.6910383229360466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9230069797518542, + 0.33930903673171997, + -0.18145939495239877, + -2.798200623485122 + ], + [ + -0.3579451541937114, + 0.9301912784576416, + -0.08136027093719463, + -0.027380590878830977 + ], + [ + 0.14118568528205067, + 0.14004859328269958, + 0.9800270332442819, + 2.7549218979406103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9207853254575524, + 0.3437322676181793, + -0.18439766071647534, + -2.8705312543939874 + ], + [ + -0.36292305229344024, + 0.9282041788101196, + -0.08199929177994428, + -0.00500361485196088 + ], + [ + 0.14297287268846817, + 0.14242589473724365, + 0.9794251168705471, + 2.820390117748349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9184851491565388, + 0.34882134199142456, + -0.18630286541024607, + -2.9461586429015987 + ], + [ + -0.3680856758680911, + 0.9263169765472412, + -0.08031066531655139, + 0.0048268010752416934 + ], + [ + 0.14456142005766354, + 0.1423395574092865, + 0.9792045307150786, + 2.8796490573322044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9161637359896421, + 0.3536835014820099, + -0.1885525062466521, + -3.019118844894142 + ], + [ + -0.37314113261162474, + 0.9243964552879333, + -0.07910057317108654, + 0.01839834735895969 + ], + [ + 0.1463207077405597, + 0.14282575249671936, + 0.978872328748892, + 2.9366379307750115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.913938413680263, + 0.35784432291984564, + -0.19147859925505503, + -3.0874151073147433 + ], + [ + -0.37781135651622305, + 0.9224762916564944, + -0.079347797893953, + 0.03947148704500472 + ], + [ + 0.14824033445653773, + 0.14486178755760196, + 0.9782841631711385, + 2.9928963796463592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9117017853262497, + 0.3623533248901367, + -0.19364893861961657, + -3.163631574120432 + ], + [ + -0.3826725609244071, + 0.9204797744750977, + -0.0792381460431297, + 0.058321037260803496 + ], + [ + 0.14953774887653293, + 0.14634568989276886, + 0.9778657302473655, + 3.048146048560936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9092311239668216, + 0.36726751923561096, + -0.1959932715437611, + -3.2390301422475707 + ], + [ + -0.3878665473789398, + 0.9183725714683533, + -0.07843093459489987, + 0.07528810924035995 + ], + [ + 0.15118973185221776, + 0.1473310887813568, + 0.9774636769556919, + 3.101993965701916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9068108769966713, + 0.3715402781963349, + -0.1991277415507612, + -3.310623787231491 + ], + [ + -0.39264188764897096, + 0.9163530468940737, + -0.07829081053537207, + 0.09823980013131783 + ], + [ + 0.15338313527606298, + 0.14918082952499392, + 0.9768411905108348, + 3.156344340834286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9042515786046134, + 0.37649086117744446, + -0.2014539397585951, + -3.3853024951222785 + ], + [ + -0.3979868428391097, + 0.9140549898147583, + -0.07816613310730935, + 0.1213098277879195 + ], + [ + 0.15471113382938845, + 0.1508578509092331, + 0.9763740996330469, + 3.204788221927392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9019611633732401, + 0.3812493681907654, + -0.20276816386931532, + -3.463542472643518 + ], + [ + -0.4027243637312082, + 0.9121261239051819, + -0.07641368348338676, + 0.1380925055215807 + ], + [ + 0.15581748929181932, + 0.15058186650276184, + 0.9762407472374035, + 3.2506249891548857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8991117049058667, + 0.3859410881996155, + -0.2065130131905719, + -3.5280140757911442 + ], + [ + -0.4080929620196907, + 0.9097194671630859, + -0.07662022144900518, + 0.16372497494163962 + ], + [ + 0.15829803122316255, + 0.15316665172576904, + 0.9754392444281129, + 3.294048772364494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8968128292128874, + 0.3901039659976959, + -0.2086759566553722, + -3.5982335277393496 + ], + [ + -0.41270365826812616, + 0.9076099395751953, + -0.07694103308304152, + 0.19235359950515907 + ], + [ + 0.15938136712005352, + 0.1551230251789093, + 0.9749535311319057, + 3.3363706813025917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8944597956321205, + 0.3947618305683137, + -0.2100113138808914, + -3.66887322150051 + ], + [ + -0.4175053212542157, + 0.9054774641990664, + -0.07615683523649157, + 0.2156028469490992 + ], + [ + 0.16009670486696975, + 0.1558000594377518, + 0.9747283461202285, + 3.375912695164711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8919985911218841, + 0.39944717288017273, + -0.21161405555841645, + -3.731833296280987 + ], + [ + -0.422309343501814, + 0.9033482670783997, + -0.07494493421810247, + 0.23839356573400494 + ], + [ + 0.1612246547922334, + 0.15621735155582428, + 0.9744756422332826, + 3.406919187782134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8895425746719219, + 0.404356449842453, + -0.2126260455497238, + -3.793359913091829 + ], + [ + -0.42715462257363546, + 0.9012117385864258, + -0.0731868620723121, + 0.26147459504700044 + ], + [ + 0.16202752302626977, + 0.15592703223228455, + 0.9743889624821421, + 3.4272729752981443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8873668870228174, + 0.40872853994369507, + -0.21335659992553013, + -3.85264812741801 + ], + [ + -0.43179451725289647, + 0.898952841758728, + -0.0737378649821061, + 0.29401545560372744 + ], + [ + 0.16165877796015463, + 0.15755873918533325, + 0.9741877093725618, + 3.444226853661677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.88544198534129, + 0.4123653769493103, + -0.21435330823571738, + -3.905223159519782 + ], + [ + -0.4355583638072614, + 0.8971768617630005, + -0.07322959936665248, + 0.3216706346730539 + ], + [ + 0.1621155077535397, + 0.15820391476154327, + 0.9740072537516116, + 3.454660390378006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8826780679734203, + 0.4172292649745941, + -0.216331183588052, + -3.949988527556323 + ], + [ + -0.44055309344800747, + 0.8948611617088318, + -0.07166908698259371, + 0.3493148422215444 + ], + [ + 0.1636839596394338, + 0.15856608748435974, + 0.9736860000513043, + 3.461588100327311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8802663837410374, + 0.42153996229171753, + -0.21779612636310022, + -3.9919394921230884 + ], + [ + -0.4451371399049186, + 0.8926038146018982, + -0.07149378895615295, + 0.3859916120476161 + ], + [ + 0.16426818500137413, + 0.15988269448280334, + 0.9733722653192772, + 3.4629395827071394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8775672742909782, + 0.42689400911331177, + -0.21825949261096794, + -4.031679795343223 + ], + [ + -0.45005056663606724, + 0.8904114365577698, + -0.06798477759974607, + 0.41295394103636474 + ], + [ + 0.16531848694438264, + 0.15788903832435608, + 0.9735198297715, + 3.4576347275689825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8754180171231369, + 0.43091973662376415, + -0.21897836843332247, + -4.064802006421273 + ], + [ + -0.4542504298783642, + 0.8882778286933901, + -0.06796350194466007, + 0.4573158557248696 + ], + [ + 0.16522680759149838, + 0.15896746516227725, + 0.9733598448959826, + 3.455403080004416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8731124561444199, + 0.43537622690200806, + -0.21936772001344437, + -4.094094616286636 + ], + [ + -0.4586907382123789, + 0.8860588669776917, + -0.06710032157221955, + 0.5041021930008207 + ], + [ + 0.16515886444284814, + 0.15920808911323547, + 0.9733320619941827, + 3.448539421077556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8703924970696627, + 0.4403155744075775, + -0.2203160366270753, + -4.116532345971326 + ], + [ + -0.4633504314109696, + 0.8838538527488708, + -0.06409928474079149, + 0.5466665005543199 + ], + [ + 0.16650327477543275, + 0.15787506103515625, + 0.9733201414832593, + 3.4433841412537562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8681547319220446, + 0.44430285692214966, + -0.22113864225766913, + -4.131970891395019 + ], + [ + -0.4673382174020816, + 0.8818348050117493, + -0.06294771190652745, + 0.5991527985252775 + ], + [ + 0.16703991675155655, + 0.15799488127231598, + 0.9732087349611447, + 3.438008078154749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8656922945160819, + 0.4493147134780884, + -0.22066522403778388, + -4.144983992315398 + ], + [ + -0.4719716618178198, + 0.8795194625854492, + -0.06073087242106235, + 0.6507149342386864 + ], + [ + 0.16679210784707066, + 0.15672196447849274, + 0.9734570638597558, + 3.432247497752234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8636751578360038, + 0.4531496465206146, + -0.2207275725041203, + -4.149157848230029 + ], + [ + -0.4756180045980509, + 0.877656877040863, + -0.059211235129008916, + 0.7115450163673281 + ], + [ + 0.16689150940731245, + 0.15612125396728516, + 0.9735365146730098, + 3.4282457065823086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8613195247464132, + 0.4588228762149811, + -0.21819779748722423, + -4.156518598986504 + ], + [ + -0.4803440772345646, + 0.8753218054771423, + -0.05550957993588617, + 0.767097726251468 + ], + [ + 0.16552420901987508, + 0.15262150764465332, + 0.9743245839578278, + 3.423812699382817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8592826037223316, + 0.4625113606452942, + -0.21844154947392597, + -4.145099433865513 + ], + [ + -0.4837473953799502, + 0.8735861778259277, + -0.053250630414462714, + 0.8299540163940818 + ], + [ + 0.16619853837843626, + 0.15142786502838135, + 0.9743960578041154, + 3.4227434294172254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8574149436823151, + 0.46764421463012706, + -0.21482206500775866, + -4.141903071606082 + ], + [ + -0.4877662532714396, + 0.8715698122978213, + -0.04949910098525416, + 0.88935208966726 + ], + [ + 0.1640844731947331, + 0.14722421765327456, + 0.9753980234482607, + 3.420830871073254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8556648226288907, + 0.471938580274582, + -0.21239508133355683, + -4.125072136844765 + ], + [ + -0.49128113583317223, + 0.8697524070739748, + -0.04662214334048794, + 0.9542970750563579 + ], + [ + 0.16272836392944035, + 0.14423863589763644, + 0.976071056498423, + 3.422644419142096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8544661328815879, + 0.47539860010147095, + -0.20948462118953223, + -4.1035608270194786 + ], + [ + -0.4940144375119213, + 0.8683137893676758, + -0.044506604410369174, + 1.0212987049806554 + ], + [ + 0.1607400050826016, + 0.14151781797409058, + 0.9767985339976478, + 3.4255067075759396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8535360622620815, + 0.47841787338256836, + -0.2063797399791099, + -4.0781231537071845 + ], + [ + -0.4963336904702798, + 0.8670812845230103, + -0.042695579172273894, + 1.0924916985045874 + ], + [ + 0.15852169404678992, + 0.13887542486190796, + 0.9775400142728002, + 3.4317278284968227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 600.0564778645833, + "fy": 600.2124837239583, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a26ff1a4-c99b-46a3-a19b-a2c53b4a92ad/boom_down/transforms.json b/dynpose_eval/camera_controls/a26ff1a4-c99b-46a3-a19b-a2c53b4a92ad/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c51810908887a09157dbeeb3ea30767680d5e4 --- /dev/null +++ b/dynpose_eval/camera_controls/a26ff1a4-c99b-46a3-a19b-a2c53b4a92ad/boom_down/transforms.json @@ -0,0 +1,6523 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 186, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -2.4445491362712346e-05, + -2.1058160200482234e-05, + 0.0001496502081863582 + ], + [ + 2.4444691007374786e-05, + 1.0, + -3.7966299714753404e-05, + 0.00012565856741275638 + ], + [ + 2.1059087885078043e-05, + 3.79657831217628e-05, + 1.0, + 8.955549128586426e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999927878379822, + 0.000972784764599055, + 0.0036675825249403715, + -0.007176765608381027 + ], + [ + -0.0009690911392681301, + 0.9999990463256836, + -0.0010087559930980206, + 0.00036253926628961454 + ], + [ + -0.0036685604136437178, + 0.001005194615572691, + 0.9999927878379822, + -0.010084015861203945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999712705612183, + 0.002128893742337823, + 0.007273738272488117, + -0.01590202634776565 + ], + [ + -0.0021230338606983423, + 0.9999974370002747, + -0.0008132163202390075, + 0.0015275337470292642 + ], + [ + -0.007275450974702835, + 0.0007977505447342992, + 0.9999732375144958, + -0.015711812274152966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999497532844543, + 0.002692475914955139, + 0.009655248373746872, + -0.023921986904901427 + ], + [ + -0.0026964466087520123, + 0.9999963045120239, + 0.00039825038402341306, + 0.0050532424573257965 + ], + [ + -0.00965414009988308, + -0.0004242652503307909, + 0.9999533295631409, + -0.031043664302591964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999368190765381, + 0.003827301785349846, + 0.010567763820290565, + -0.03583433341335606 + ], + [ + -0.003850021865218878, + 0.9999903440475464, + 0.002130435314029455, + 0.005604953064104995 + ], + [ + -0.010559508576989174, + -0.0021709869615733624, + 0.999941885471344, + -0.04374153555547063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999465346336365, + 0.003470555879175663, + 0.009743737056851387, + -0.045379769457252445 + ], + [ + -0.003497794736176729, + 0.9999900460243225, + 0.0027798605151474476, + 0.007125117856304388 + ], + [ + -0.00973399169743061, + -0.0028137932531535625, + 0.9999486804008484, + -0.05081543851819997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999966561794281, + 0.0025719974655658007, + 0.0077617536298930645, + -0.05405095895827823 + ], + [ + -0.002591468160971999, + 0.9999935030937195, + 0.002499513328075409, + 0.007820782522494728 + ], + [ + -0.007755274418741465, + -0.0025195442140102386, + 0.9999667406082153, + -0.06232268556549742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999841451644897, + 0.0010603435803204775, + 0.005534195341169834, + -0.06196847560702244 + ], + [ + -0.00106910546310246, + 0.999998152256012, + 0.0015804977156221867, + 0.008314179624053272 + ], + [ + -0.00553250964730978, + -0.0015863892622292042, + 0.9999834299087524, + -0.07385311759379064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0005099483532831073, + 0.0039292569272220135, + -0.06873650122786293 + ], + [ + -0.0005120675778016448, + 0.9999997019767761, + 0.0005383547977544367, + 0.009863608054615357 + ], + [ + -0.003928981255739927, + -0.0005403626128099859, + 0.9999921321868896, + -0.08113121708477469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999958872795105, + 4.866960080107674e-05, + 0.002861835528165102, + -0.07600042388685177 + ], + [ + -4.730934597318992e-05, + 0.9999998807907104, + -0.0004753735556732863, + 0.010137944250191386 + ], + [ + -0.00286185834556818, + 0.00047523624380119145, + 0.999995768070221, + -0.09522142033254716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999971389770508, + -0.0002083829022012651, + 0.0023924612905830145, + -0.08637256310919199 + ], + [ + 0.00020985968876630068, + 0.9999997615814209, + -0.0006170356646180153, + 0.01107041209533408 + ], + [ + -0.0023923323024064302, + 0.0006175360176712275, + 0.9999969601631165, + -0.10836186242742916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999998807907104, + -0.00024792691692709923, + 0.00045668426901102066, + -0.09317985816607 + ], + [ + 0.0002478247624821961, + 0.9999999403953552, + 0.0002237233566120267, + 0.01460524784854135 + ], + [ + -0.0004567396827042103, + -0.00022361014271155, + 0.9999998807907104, + -0.11833455750627468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999956488609314, + -0.0011130505008623004, + -0.0027280894573777914, + -0.09910854714670898 + ], + [ + 0.0011171115329489112, + 0.9999982714653015, + 0.0014875589404255152, + 0.018530670360133457 + ], + [ + 0.002726428909227252, + -0.001490600174292922, + 0.9999951720237732, + -0.12657013325926822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999750256538391, + -0.002616345649585128, + -0.006562573369592428, + -0.10374428786777866 + ], + [ + 0.0026359877083450556, + 0.9999920725822449, + 0.002986180130392313, + 0.01772607676986907 + ], + [ + 0.0065547083504498005, + -0.003003404475748539, + 0.9999740123748779, + -0.1428309728633109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999504089355469, + -0.0023035372141748667, + -0.009685915894806385, + -0.10821132143380473 + ], + [ + 0.002338007790967822, + 0.9999909400939941, + 0.003549041924998164, + 0.019880215810561503 + ], + [ + 0.009677653200924397, + -0.003571511944755912, + 0.9999467730522156, + -0.1472915827545866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999224543571472, + -0.002813737839460373, + -0.012130852788686752, + -0.11218483042273973 + ], + [ + 0.002856957260519266, + 0.9999896287918091, + 0.003546930616721511, + 0.02144430158408107 + ], + [ + 0.012120746076107025, + -0.003581312717869878, + 0.999920129776001, + -0.15440380104024568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998980760574341, + -0.0029478680808097124, + -0.013971454463899136, + -0.11306583800227256 + ], + [ + 0.0029995583463460207, + 0.9999887347221375, + 0.0036802017129957676, + 0.022477097959333177 + ], + [ + 0.01396044809371233, + -0.003721734508872032, + 0.9998956322669983, + -0.16123259214130609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998978972434998, + -0.003078451147302985, + -0.0139552541077137, + -0.11543351273367031 + ], + [ + 0.00313632027246058, + 0.9999865889549255, + 0.004126767162233591, + 0.022776427154202722 + ], + [ + 0.013942362740635872, + -0.004170113708823919, + 0.9998940825462341, + -0.17229006602227487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999064803123474, + -0.0034715181682258844, + -0.013227504678070545, + -0.11711310940442254 + ], + [ + 0.0035336671862751245, + 0.9999828338623047, + 0.004678010940551758, + 0.024494083047517247 + ], + [ + 0.013211037032306194, + -0.004724315367639065, + 0.9999015927314758, + -0.1807454488718429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999107122421265, + -0.003704782109707594, + -0.012840461917221546, + -0.11823455889205876 + ], + [ + 0.0037721488624811172, + 0.9999792575836182, + 0.005226183217018843, + 0.024757044383802933 + ], + [ + 0.01282083336263895, + -0.005274152848869562, + 0.9999039173126221, + -0.18652235096949782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999207854270935, + -0.0034819776192307472, + -0.012093158438801765, + -0.11872395394823036 + ], + [ + 0.003544256556779146, + 0.9999805688858032, + 0.005132325924932957, + 0.02461004551701449 + ], + [ + 0.012075051665306091, + -0.005174781195819378, + 0.9999136924743652, + -0.19229424461923741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999398589134216, + -0.003482596715912223, + -0.010401795618236065, + -0.11996742277771134 + ], + [ + 0.0035251688677817583, + 0.9999854564666748, + 0.004077260382473469, + 0.024567688295768726 + ], + [ + 0.01038744580000639, + -0.0041136834770441055, + 0.9999375939369202, + -0.1964425102852889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999489784240723, + -0.003217942314222455, + -0.009573729708790779, + -0.11881379162112402 + ], + [ + 0.003240925492718816, + 0.9999918937683105, + 0.0023861262015998363, + 0.02257532084713111 + ], + [ + 0.009565973654389381, + -0.002417032141238451, + 0.9999513030052185, + -0.20342011624242406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999556541442871, + -0.0033116075210273266, + -0.008816991001367569, + -0.11737243773994616 + ], + [ + 0.003303615842014551, + 0.9999940991401672, + -0.0009208015981130302, + 0.021774692372293087 + ], + [ + 0.008819987997412682, + 0.0008916328079067171, + 0.999960720539093, + -0.21123086045971265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999614357948303, + -0.002994960406795144, + -0.008255562745034695, + -0.11609624202489048 + ], + [ + 0.002953398274257779, + 0.9999829530715942, + -0.005042029079049826, + 0.020941826706198423 + ], + [ + 0.008270521648228168, + 0.005017452407628298, + 0.9999532103538513, + -0.2158612131850945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999645948410034, + -0.0016913042636588216, + -0.008243654854595661, + -0.11632773733376903 + ], + [ + 0.0016033322317525744, + 0.9999418258666992, + -0.010666441172361374, + 0.021330137309190388 + ], + [ + 0.00826121587306261, + 0.010652845725417137, + 0.9999091029167175, + -0.22090487456502947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999615550041199, + -0.0013672142522409558, + -0.008660200983285904, + -0.11535429195035249 + ], + [ + 0.0012268932769075036, + 0.9998682141304016, + -0.016187621280550957, + 0.020592423556120815 + ], + [ + 0.008681191131472588, + 0.0161763746291399, + 0.9998314380645752, + -0.22843991557287202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999531507492065, + -0.0007085319375619292, + -0.009656094014644623, + -0.11186379127311394 + ], + [ + 0.000501378090120852, + 0.9997700452804565, + -0.021438738331198692, + 0.02077287252992392 + ], + [ + 0.009669063612818718, + 0.021432893350720406, + 0.9997235536575317, + -0.2310500450845103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999391436576843, + 0.00039366204873658717, + -0.011027705855667591, + -0.11067050183978486 + ], + [ + -0.0006858694832772017, + 0.99964839220047, + -0.0265063364058733, + 0.020560376390915465 + ], + [ + 0.0110133932903409, + 0.026512285694479942, + 0.9995878338813782, + -0.2384710077297043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999077320098877, + 0.0015578173333778977, + -0.01349401194602251, + -0.10785840023050991 + ], + [ + -0.001975907012820244, + 0.9995166063308716, + -0.031025640666484833, + 0.02096774036970896 + ], + [ + 0.013439157046377659, + 0.031049441546201706, + 0.9994274973869324, + -0.24510584336881702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998602867126465, + 0.0030689912382513285, + -0.01643265224993229, + -0.10707259423451851 + ], + [ + -0.0036383315455168486, + 0.9993901252746582, + -0.03472985327243805, + 0.020954389983435743 + ], + [ + 0.016316043213009834, + 0.03478478640317917, + 0.9992616176605225, + -0.25446870016890605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997775554656982, + 0.003899564500898123, + -0.02072722464799881, + -0.10438374183744796 + ], + [ + -0.004692183341830969, + 0.9992541074752808, + -0.038330454379320145, + 0.02301560076406679 + ], + [ + 0.020562291145324707, + 0.03841918334364891, + 0.9990501403808594, + -0.2575621693500796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999682605266571, + 0.004335210658609867, + -0.024818258360028267, + -0.09902677951632319 + ], + [ + -0.005344383418560028, + 0.9991554021835327, + -0.0407416857779026, + 0.02291342241437854 + ], + [ + 0.024620672687888145, + 0.04086139425635338, + 0.9988614320755005, + -0.26174300928373595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9995548129081726, + 0.004419807344675064, + -0.029506830498576164, + -0.09251498654686116 + ], + [ + -0.005679790861904621, + 0.9990694522857666, + -0.042755093425512314, + 0.023708433880898598 + ], + [ + 0.029290402308106422, + 0.04290365055203438, + 0.9986497759819031, + -0.26769571043953705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994198679924011, + 0.005155686289072037, + -0.033664681017398834, + -0.08813546185960641 + ], + [ + -0.006646129302680492, + 0.9989956021308899, + -0.0443124994635582, + 0.023833111955507386 + ], + [ + 0.03340240567922592, + 0.04451053589582443, + 0.9984503388404846, + -0.27501465137745884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9992974996566772, + 0.0050741140730679035, + -0.03713241592049599, + -0.08257790307665394 + ], + [ + -0.006762974429875612, + 0.9989414811134338, + -0.0454987958073616, + 0.0245583711368208 + ], + [ + 0.036862242966890335, + 0.04571795463562012, + 0.998274028301239, + -0.2829078621155507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9991980195045471, + 0.004791426006704569, + -0.0397542305290699, + -0.07579552182776703 + ], + [ + -0.006600156892091036, + 0.9989429116249084, + -0.04549207165837288, + 0.025917774745439357 + ], + [ + 0.03949423506855965, + 0.04571797326207161, + 0.9981733560562134, + -0.29326523538376836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9991323947906494, + 0.005238900426775217, + -0.04131625220179558, + -0.0698284129332751 + ], + [ + -0.00706966919824481, + 0.9989936947822571, + -0.04429025202989578, + 0.026380617860704666 + ], + [ + 0.041042644530534744, + 0.04454391449689865, + 0.9981639981269836, + -0.3007506157457829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9990597367286682, + 0.005501637700945139, + -0.04300486296415329, + -0.06175949431402055 + ], + [ + -0.007343387696892023, + 0.9990572333335876, + -0.042786601930856705, + 0.02772745399106596 + ], + [ + 0.04272892326116562, + 0.04306216910481453, + 0.9981582760810852, + -0.3079011865282381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989736080169678, + 0.005903360899537802, + -0.04490933194756508, + -0.0533161029750733 + ], + [ + -0.0077492608688771725, + 0.9991274476051331, + -0.041040416806936264, + 0.029386490277341897 + ], + [ + 0.04462787136435509, + 0.04134630784392357, + 0.99814772605896, + -0.31328830488428877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9989075064659119, + 0.007133273873478174, + -0.04618305340409279, + -0.04768915998975973 + ], + [ + -0.008965697139501572, + 0.9991756677627563, + -0.03959263116121292, + 0.030635901454936814 + ], + [ + 0.04586255922913551, + 0.03996343910694122, + 0.9981480836868286, + -0.31874228941427696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9988443851470947, + 0.008594557642936707, + -0.047286320477724075, + -0.04000062134217572 + ], + [ + -0.010427910834550858, + 0.9991979002952576, + -0.038662273436784744, + 0.03209392754914793 + ], + [ + 0.04691610857844353, + 0.0391106940805912, + 0.9981328845024109, + -0.326249741668234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9988283514976501, + 0.009520886465907097, + -0.04744793474674225, + -0.03265127060985243 + ], + [ + -0.011358190327882767, + 0.9991900324821472, + -0.038604576140642166, + 0.035598254725337036 + ], + [ + 0.04704195261001587, + 0.03909826651215553, + 0.9981274604797363, + -0.3328253885338435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9988488554954529, + 0.011036466807126999, + -0.046681296080350876, + -0.026047773866637335 + ], + [ + -0.01283799298107624, + 0.9991772770881653, + -0.03846998140215874, + 0.03863288881307518 + ], + [ + 0.04621831700205803, + 0.03902499005198479, + 0.9981687664985657, + -0.33956494542191157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9988631010055542, + 0.013458508998155594, + -0.045731980353593826, + -0.02146758641745593 + ], + [ + -0.015169564634561539, + 0.9991898536682129, + -0.037276145070791245, + 0.04118259451679282 + ], + [ + 0.045193251222372055, + 0.037927497178316116, + 0.9982579946517944, + -0.34970739214001473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9988375306129456, + 0.015742748975753784, + -0.04556017369031906, + -0.016800761394001343 + ], + [ + -0.017340391874313354, + 0.9992408156394958, + -0.034886524081230164, + 0.04290048028971698 + ], + [ + 0.0449763759970665, + 0.03563600033521652, + 0.9983522295951843, + -0.3564604906012883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9987713694572449, + 0.018085362389683723, + -0.04613795876502991, + -0.013155679163095114 + ], + [ + -0.01957731880247593, + 0.9992931485176086, + -0.03209256753325462, + 0.045681034697068704 + ], + [ + 0.04552493989467621, + 0.03295639529824257, + 0.9984194040298462, + -0.36158080723237346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.998700737953186, + 0.019229168072342873, + -0.04719207063317299, + -0.009185266195720918 + ], + [ + -0.020637115463614464, + 0.9993507862091064, + -0.029530776664614677, + 0.0487491083668696 + ], + [ + 0.04659358039498329, + 0.030466316267848015, + 0.9984492063522339, + -0.36739100705832245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.99863201379776, + 0.02037135511636734, + -0.04815683513879776, + -0.006800237930807713 + ], + [ + -0.02171006053686142, + 0.9993876218795776, + -0.027441205456852913, + 0.050725265342641525 + ], + [ + 0.04756832867860794, + 0.028449153527617455, + 0.9984627962112427, + -0.37108919396593765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9985663294792175, + 0.020545905455946922, + -0.04942803084850311, + -0.0038850947046602095 + ], + [ + -0.02186110056936741, + 0.999417245388031, + -0.02621641755104065, + 0.051246820925860796 + ], + [ + 0.0488605871796608, + 0.027259383350610733, + 0.998433530330658, + -0.3777201927493553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9985198974609375, + 0.020078854635357857, + -0.050545793026685715, + -0.0020735316431602915 + ], + [ + -0.02142237313091755, + 0.9994276762008667, + -0.026180285960435867, + 0.05312155413667898 + ], + [ + 0.049991194158792496, + 0.0272243469953537, + 0.9983785152435303, + -0.3845167421811336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9984514713287354, + 0.019345100969076157, + -0.05215815082192421, + 0.00037265328523652583 + ], + [ + -0.020760010927915573, + 0.9994272589683533, + -0.026723355054855347, + 0.05541278132313007 + ], + [ + 0.051611315459012985, + 0.02776477485895157, + 0.9982812404632568, + -0.38902330972455645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9983681440353394, + 0.018403753638267517, + -0.05405884236097336, + 0.002101893142192952 + ], + [ + -0.019884243607521057, + 0.9994382262229919, + -0.02697763219475746, + 0.057681225667128695 + ], + [ + 0.05353198200464249, + 0.02800852805376053, + 0.9981732368469238, + -0.39539807176267777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9982708096504211, + 0.017390664666891098, + -0.056151580065488815, + 0.0008831256979170281 + ], + [ + -0.018900886178016663, + 0.9994707107543945, + -0.026477288454771042, + 0.060264466940551195 + ], + [ + 0.0556613989174366, + 0.027492817491292953, + 0.9980711340904236, + -0.39681120077701837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981055855751038, + 0.01655486226081848, + -0.05925509333610535, + -0.0013836907433043863 + ], + [ + -0.018074553459882736, + 0.9995189309120178, + -0.025203125551342964, + 0.06207180371558345 + ], + [ + 0.05880935490131378, + 0.026226388290524483, + 0.9979246854782104, + -0.4025416426662658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9979031085968018, + 0.015210629440844059, + -0.06291289627552032, + -0.002325320348294603 + ], + [ + -0.01671638898551464, + 0.9995846152305603, + -0.02347731590270996, + 0.06314864968125886 + ], + [ + 0.06252965331077576, + 0.024479761719703674, + 0.9977428317070007, + -0.41075226265836406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976857900619507, + 0.013781825080513954, + -0.06658168137073517, + -0.004624231110855534 + ], + [ + -0.01524437963962555, + 0.9996524453163147, + -0.02150842174887657, + 0.06459078456501703 + ], + [ + 0.06626211106777191, + 0.022473644465208054, + 0.9975491166114807, + -0.41280560137452305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9974085092544556, + 0.01203584298491478, + -0.07093245536088943, + -0.007308160827772038 + ], + [ + -0.01348721981048584, + 0.9997086524963379, + -0.020018067210912704, + 0.06589567064433485 + ], + [ + 0.07067085057497025, + 0.02092287316918373, + 0.9972802400588989, + -0.41437679864063454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9970775842666626, + 0.01086227223277092, + -0.07561933249235153, + -0.010374638751350545 + ], + [ + -0.012298785150051117, + 0.9997521638870239, + -0.018556928262114525, + 0.0660471266266462 + ], + [ + 0.0753990188241005, + 0.01943272165954113, + 0.9969640970230103, + -0.4161452122898521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9967117309570312, + 0.009761881083250046, + -0.08043865859508514, + -0.015581218042486423 + ], + [ + -0.011208336800336838, + 0.9997831583023071, + -0.017550241202116013, + 0.0654546140859256 + ], + [ + 0.08024989068508148, + 0.018394116312265396, + 0.9966050386428833, + -0.41844761946112724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9963603615760803, + 0.008916595950722694, + -0.08477317541837692, + -0.020234389170198826 + ], + [ + -0.010463820770382881, + 0.999786376953125, + -0.017824573442339897, + 0.06725092598715343 + ], + [ + 0.08459613472223282, + 0.01864674873650074, + 0.9962408542633057, + -0.4203098607425754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9959638714790344, + 0.008829769678413868, + -0.08931946754455566, + -0.02404978198125153 + ], + [ + -0.010489734821021557, + 0.9997805953025818, + -0.018132278695702553, + 0.06760841630197861 + ], + [ + 0.08913975954055786, + 0.01899603195488453, + 0.9958379864692688, + -0.422779530048169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9955325722694397, + 0.009311131201684475, + -0.09395836293697357, + -0.02887006871100213 + ], + [ + -0.011086064390838146, + 0.9997695088386536, + -0.018386371433734894, + 0.06900051882138124 + ], + [ + 0.0937655121088028, + 0.019345860928297043, + 0.9954063296318054, + -0.42638492759417845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9950894117355347, + 0.010403087362647057, + -0.09843181073665619, + -0.03680889716724286 + ], + [ + -0.012269282713532448, + 0.9997559189796448, + -0.018372973427176476, + 0.07079851369197304 + ], + [ + 0.09821665287017822, + 0.0194904375821352, + 0.9949741959571838, + -0.42802983433108877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.99455326795578, + 0.01192407589405775, + -0.10354547947645187, + -0.04183377725449768 + ], + [ + -0.013860168866813183, + 0.9997419118881226, + -0.01799863576889038, + 0.0714664275259585 + ], + [ + 0.10330414026975632, + 0.019335757941007614, + 0.9944618344306946, + -0.4307703081981556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9940446615219116, + 0.012731499969959259, + -0.10822743922472, + -0.04910595958700051 + ], + [ + -0.014749359339475632, + 0.9997316002845764, + -0.01786457933485508, + 0.07162367405520903 + ], + [ + 0.1079709455370903, + 0.019354475662112236, + 0.9939656257629395, + -0.4336269570615243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9935804605484009, + 0.013640938326716423, + -0.11230222135782242, + -0.05517695832292776 + ], + [ + -0.015765508636832237, + 0.9997127652168274, + -0.01805201731622219, + 0.07241996947977994 + ], + [ + 0.1120237186551094, + 0.019706634804606438, + 0.9935101270675659, + -0.43295841336451674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932066202163696, + 0.013809841126203537, + -0.11554189026355743, + -0.06036369740761615 + ], + [ + -0.016033397987484932, + 0.9997032880783081, + -0.018337354063987732, + 0.07230933742748724 + ], + [ + 0.11525437235832214, + 0.0200653113424778, + 0.9931333065032959, + -0.4347877008145725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9929215312004089, + 0.014320707879960537, + -0.11790549010038376, + -0.06708113923467494 + ], + [ + -0.016669191420078278, + 0.9996813535690308, + -0.018956327810883522, + 0.07265010004913486 + ], + [ + 0.11759645491838455, + 0.02078753523528576, + 0.9928438663482666, + -0.4348623052199145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9927211403846741, + 0.014668376184999943, + -0.1195390596985817, + -0.07582114426419138 + ], + [ + -0.017171675339341164, + 0.9996537566184998, + -0.019938161596655846, + 0.07443285900193292 + ], + [ + 0.11920521408319473, + 0.02184571884572506, + 0.9926292896270752, + -0.43568460075537097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9926876425743103, + 0.014587261714041233, + -0.11982683837413788, + -0.08310297478393124 + ], + [ + -0.01715656742453575, + 0.9996439218521118, + -0.020438196137547493, + 0.07571545825213999 + ], + [ + 0.11948603391647339, + 0.0223445612937212, + 0.9925844073295593, + -0.4390267353706263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9926707148551941, + 0.014370324090123177, + -0.1199931800365448, + -0.09125694346689694 + ], + [ + -0.016886455938220024, + 0.9996578097343445, + -0.01997850276529789, + 0.07655892601689777 + ], + [ + 0.11966502666473389, + 0.02185833267867565, + 0.9925736784934998, + -0.4447485688640862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9923863410949707, + 0.01467802468687296, + -0.12228596955537796, + -0.10284090593457222 + ], + [ + -0.01706107333302498, + 0.9996839761734009, + -0.01846320368349552, + 0.07648621193057782 + ], + [ + 0.1219763234257698, + 0.020408960059285164, + 0.9923231601715088, + -0.4493006138141091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9918497800827026, + 0.014531120657920837, + -0.12658146023750305, + -0.11314594652201679 + ], + [ + -0.016777120530605316, + 0.9997198581695557, + -0.01669543981552124, + 0.07882853464097592 + ], + [ + 0.12630340456962585, + 0.018683042377233505, + 0.9918156862258911, + -0.44914644686152805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9912006855010986, + 0.01356851402670145, + -0.13167020678520203, + -0.12312678690999747 + ], + [ + -0.01565594971179962, + 0.9997674226760864, + -0.014831215143203735, + 0.0796222797036171 + ], + [ + 0.13143834471702576, + 0.016762133687734604, + 0.9911826252937317, + -0.4534932447969913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.990376889705658, + 0.012981503270566463, + -0.1377866268157959, + -0.13250100817783056 + ], + [ + -0.014874390326440334, + 0.9998084902763367, + -0.012717016972601414, + 0.08138693265012792 + ], + [ + 0.13759514689445496, + 0.014644131995737553, + 0.9903802871704102, + -0.45392436892851384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9896017909049988, + 0.012464248575270176, + -0.14329330623149872, + -0.1424019672681351 + ], + [ + -0.014141441322863102, + 0.9998428225517273, + -0.01069210097193718, + 0.0808910557627678 + ], + [ + 0.14313752949237823, + 0.01260729692876339, + 0.9896225333213806, + -0.4547868502744146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9889054894447327, + 0.012702611275017262, + -0.14800192415714264, + -0.15080623810708121 + ], + [ + -0.014338313601911068, + 0.9998472929000854, + -0.009990178048610687, + 0.08386894250640999 + ], + [ + 0.14785243570804596, + 0.012001439929008484, + 0.9889366030693054, + -0.45580535860480487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9882686734199524, + 0.013468259945511818, + -0.15213030576705933, + -0.15956591318789365 + ], + [ + -0.015015501528978348, + 0.9998465180397034, + -0.009026188403367996, + 0.08552069270932997 + ], + [ + 0.15198537707328796, + 0.011204611510038376, + 0.9883192181587219, + -0.45649723795217434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.987567126750946, + 0.014865764416754246, + -0.1564932018518448, + -0.16858918569831027 + ], + [ + -0.01633606292307377, + 0.9998336434364319, + -0.008113249205052853, + 0.08607137404583597 + ], + [ + 0.15634654462337494, + 0.010568861849606037, + 0.98764568567276, + -0.459877110971893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9867790341377258, + 0.01663355529308319, + -0.16121545433998108, + -0.17610936374277683 + ], + [ + -0.01808946579694748, + 0.9998077154159546, + -0.007567203603684902, + 0.0887830059069234 + ], + [ + 0.16105857491493225, + 0.010383459739387035, + 0.9868901968002319, + -0.46006562037242427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9862189888954163, + 0.018875855952501297, + -0.16436488926410675, + -0.1824707455953231 + ], + [ + -0.020364273339509964, + 0.9997653961181641, + -0.0073750740848481655, + 0.08867270737080961 + ], + [ + 0.16418711841106415, + 0.010620608925819397, + 0.9863720536231995, + -0.4606852185323432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9860578775405884, + 0.021828241646289825, + -0.16496476531028748, + -0.1893323614226805 + ], + [ + -0.023447580635547638, + 0.9996940493583679, + -0.007875076495110989, + 0.0876451840392641 + ], + [ + 0.16474241018295288, + 0.011633305810391903, + 0.9862680435180664, + -0.4608341171058851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.985934853553772, + 0.02499442547559738, + -0.16525062918663025, + -0.1961015765530032 + ], + [ + -0.026863452047109604, + 0.9995978474617004, + -0.00908463541418314, + 0.08675594332250389 + ], + [ + 0.16495710611343384, + 0.013396061025559902, + 0.9862097501754761, + -0.46225846910547164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9855995774269104, + 0.02811047062277794, + -0.1667429804801941, + -0.20288083612113386 + ], + [ + -0.030386988073587418, + 0.9994763731956482, + -0.011116812005639076, + 0.08820298135683344 + ], + [ + 0.16634318232536316, + 0.0160235408693552, + 0.9859377145767212, + -0.46290878334158175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9851656556129456, + 0.03120512142777443, + -0.16874483227729797, + -0.20869084813103483 + ], + [ + -0.03385085240006447, + 0.9993445873260498, + -0.01282425969839096, + 0.09048390166985022 + ], + [ + 0.16823405027389526, + 0.01834617555141449, + 0.985576331615448, + -0.4645147288570533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9848081469535828, + 0.034200895577669144, + -0.17024442553520203, + -0.21429263047672606 + ], + [ + -0.03712697699666023, + 0.9992120265960693, + -0.01403279509395361, + 0.09234058997115574 + ], + [ + 0.16963034868240356, + 0.02014027163386345, + 0.9853019118309021, + -0.4669437601397166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9845514893531799, + 0.036848098039627075, + -0.171174094080925, + -0.2204443509675361 + ], + [ + -0.03991071879863739, + 0.9990982413291931, + -0.014484014362096786, + 0.09369410907497278 + ], + [ + 0.17048601806163788, + 0.021091938018798828, + 0.9851343035697937, + -0.46947406697917626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9844159483909607, + 0.03818864747881889, + -0.17165912687778473, + -0.22481469798732448 + ], + [ + -0.041343044489622116, + 0.9990348219871521, + -0.014837326481938362, + 0.09539324605787122 + ], + [ + 0.17092682421207428, + 0.02170301042497158, + 0.9850446581840515, + -0.4701306154196327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9844332933425903, + 0.03858156129717827, + -0.17147186398506165, + -0.22928694162215735 + ], + [ + -0.04174258932471275, + 0.9990177750587463, + -0.014866162091493607, + 0.09632741123840616 + ], + [ + 0.1707298755645752, + 0.021792422980070114, + 0.9850768446922302, + -0.47221943121705506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9844677448272705, + 0.03870341554284096, + -0.17124642431735992, + -0.23447729363232045 + ], + [ + -0.041848260909318924, + 0.9990144968032837, + -0.014791491441428661, + 0.09673373205838977 + ], + [ + 0.17050518095493317, + 0.021728109568357468, + 0.9851171970367432, + -0.47459782710349235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.984438955783844, + 0.03873235732316971, + -0.1714053452014923, + -0.23928501163382787 + ], + [ + -0.04186594486236572, + 0.9990150332450867, + -0.014703490771353245, + 0.09846921938899401 + ], + [ + 0.17066702246665955, + 0.021650735288858414, + 0.9850908517837524, + -0.47517839461766387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9843966364860535, + 0.03887513279914856, + -0.17161597311496735, + -0.2432934462863046 + ], + [ + -0.04198688268661499, + 0.9990124106407166, + -0.014538297429680824, + 0.09911556961568627 + ], + [ + 0.17088131606578827, + 0.02151707001030445, + 0.9850566387176514, + -0.4766957008878927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9843295812606812, + 0.03909551724791527, + -0.17195001244544983, + -0.24726355249213205 + ], + [ + -0.04220536723732948, + 0.9990042448043823, + -0.01446585264056921, + 0.10003071979090974 + ], + [ + 0.17121323943138123, + 0.021496379747986794, + 0.9849994778633118, + -0.4781294498965144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9842181205749512, + 0.03947330638766289, + -0.17250077426433563, + -0.2514668064947064 + ], + [ + -0.04258597269654274, + 0.9989893436431885, + -0.014379513449966908, + 0.10143138244748116 + ], + [ + 0.17175881564617157, + 0.02149869129061699, + 0.984904408454895, + -0.4785537207569625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9840549230575562, + 0.04003062844276428, + -0.17330151796340942, + -0.25427748585069504 + ], + [ + -0.04318862408399582, + 0.998961865901947, + -0.014488659799098969, + 0.10192962449950141 + ], + [ + 0.17254161834716797, + 0.021742291748523712, + 0.9847622513771057, + -0.47975243952225993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9839149713516235, + 0.04097186401486397, + -0.1738753318786621, + -0.25763862339225974 + ], + [ + -0.04417433217167854, + 0.9989173412322998, + -0.014586766250431538, + 0.10242405397263733 + ], + [ + 0.17308944463729858, + 0.0220329649746418, + 0.9846596121788025, + -0.48055285621333765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9838026762008667, + 0.042035192251205444, + -0.17425642907619476, + -0.2603921229935981 + ], + [ + -0.045290350914001465, + 0.9988650679588318, + -0.014744277112185955, + 0.10350808893909325 + ], + [ + 0.1734388917684555, + 0.022397594526410103, + 0.9845899343490601, + -0.4823541046709225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9837108254432678, + 0.04299844801425934, + -0.17453989386558533, + -0.26274735342811895 + ], + [ + -0.04628200829029083, + 0.9988189935684204, + -0.014784250408411026, + 0.10477733407874365 + ], + [ + 0.1736980676651001, + 0.022621482610702515, + 0.9845390915870667, + -0.48348286187326583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9836825728416443, + 0.043737150728702545, + -0.174515500664711, + -0.2648588386782118 + ], + [ + -0.04704584926366806, + 0.9987820982933044, + -0.014865731820464134, + 0.10601937151035748 + ], + [ + 0.173652783036232, + 0.022833390161395073, + 0.984542191028595, + -0.4855154159534219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9837021231651306, + 0.04400644078850746, + -0.1743374764919281, + -0.26729888267613744 + ], + [ + -0.04729634150862694, + 0.9987718462944031, + -0.014759408310055733, + 0.10698217938880664 + ], + [ + 0.17347386479377747, + 0.022764386609196663, + 0.9845753312110901, + -0.487091780413647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9837126731872559, + 0.0439484566450119, + -0.17429278790950775, + -0.26926017507507993 + ], + [ + -0.04717264324426651, + 0.9987829923629761, + -0.014397351071238518, + 0.10786675101599177 + ], + [ + 0.17344792187213898, + 0.022384705021977425, + 0.984588623046875, + -0.4870329400605044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9837278127670288, + 0.04384423419833183, + -0.1742333173751831, + -0.27150362529867406 + ], + [ + -0.046999987214803696, + 0.9987964034080505, + -0.014025636948645115, + 0.10871663928434656 + ], + [ + 0.1734086573123932, + 0.021986372768878937, + 0.98460453748703, + -0.4871565279847867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9837719202041626, + 0.04364800825715065, + -0.17403364181518555, + -0.27326844004561773 + ], + [ + -0.04675372317433357, + 0.9988113641738892, + -0.013783978298306465, + 0.10928215026452737 + ], + [ + 0.17322513461112976, + 0.021697012707591057, + 0.9846432209014893, + -0.486303311158475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9838072061538696, + 0.043601080775260925, + -0.1738455593585968, + -0.2741556805855519 + ], + [ + -0.04667935520410538, + 0.9988165497779846, + -0.013655834831297398, + 0.10991641084487375 + ], + [ + 0.17304441332817078, + 0.021549709141254425, + 0.9846782684326172, + -0.4852779720602809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9838249683380127, + 0.04363809525966644, + -0.1737358123064041, + -0.2750416646535332 + ], + [ + -0.04671556502580643, + 0.9988148212432861, + -0.013661935925483704, + 0.11077694617010453 + ], + [ + 0.17293371260166168, + 0.021557118743658066, + 0.9846975207328796, + -0.48449208572305535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9838306307792664, + 0.04369575157761574, + -0.17368927597999573, + -0.27566353969880053 + ], + [ + -0.04677583649754524, + 0.9988117814064026, + -0.01367771252989769, + 0.11160234206028888 + ], + [ + 0.1728852391242981, + 0.0215810127556324, + 0.9847055077552795, + -0.4839284662580168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.983797550201416, + 0.04384409636259079, + -0.17383921146392822, + -0.275839509653884 + ], + [ + -0.046925850212574005, + 0.998805046081543, + -0.013655351474881172, + 0.11237679364713464 + ], + [ + 0.1730327606201172, + 0.021591654047369957, + 0.9846793413162231, + -0.4834367256138373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9837110638618469, + 0.04409711807966232, + -0.17426425218582153, + -0.275759643719003 + ], + [ + -0.04718317836523056, + 0.9987936019897461, + -0.013604024425148964, + 0.1125407456103209 + ], + [ + 0.1734541356563568, + 0.02160477079451084, + 0.9846049547195435, + -0.48379818865173574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9835788011550903, + 0.044409554451704025, + -0.1749299317598343, + -0.27492477645946517 + ], + [ + -0.04753955081105232, + 0.9987748265266418, + -0.013741212897002697, + 0.11291174073879784 + ], + [ + 0.17410536110401154, + 0.021831654012203217, + 0.9844849705696106, + -0.4827562576411544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9834282398223877, + 0.04475260153412819, + -0.17568738758563995, + -0.27418440026608676 + ], + [ + -0.047907743602991104, + 0.998757004737854, + -0.013756542466580868, + 0.11276334014696043 + ], + [ + 0.1748533695936203, + 0.02194535732269287, + 0.9843499064445496, + -0.4808698354540644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9832690954208374, + 0.04491657763719559, + -0.17653422057628632, + -0.27305626824498175 + ], + [ + -0.04812351614236832, + 0.9987443089485168, + -0.01392471045255661, + 0.11283956110477449 + ], + [ + 0.17568708956241608, + 0.022187184542417526, + 0.9841960072517395, + -0.4773091762512922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9831316471099854, + 0.045186035335063934, + -0.17722977697849274, + -0.272436318751928 + ], + [ + -0.04843943566083908, + 0.998727023601532, + -0.01407117210328579, + 0.11213104120380171 + ], + [ + 0.1763683408498764, + 0.02241872437298298, + 0.9840689301490784, + -0.4743723728044613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.982976496219635, + 0.0454997755587101, + -0.17800834774971008, + -0.270756761590774 + ], + [ + -0.04887167736887932, + 0.998698353767395, + -0.014601336792111397, + 0.11163140697253718 + ], + [ + 0.17711228132247925, + 0.023052336648106575, + 0.9839206337928772, + -0.4698896494900455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9828543663024902, + 0.045661892741918564, + -0.17864009737968445, + -0.26984434978784744 + ], + [ + -0.04914213344454765, + 0.9986776113510132, + -0.015103282406926155, + 0.11085068398230785 + ], + [ + 0.17771422863006592, + 0.023623080924153328, + 0.9837985634803772, + -0.46633461306022633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827329516410828, + 0.04541286453604698, + -0.17937013506889343, + -0.2671728765541637 + ], + [ + -0.04902266338467598, + 0.9986736178398132, + -0.015741530805826187, + 0.11110676315587921 + ], + [ + 0.1784173548221588, + 0.024262920022010803, + 0.9836556911468506, + -0.4615059200573612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9825980067253113, + 0.04493951052427292, + -0.18022646009922028, + -0.26523543465781857 + ], + [ + -0.04865651577711105, + 0.9986833333969116, + -0.016254305839538574, + 0.1106925791099265 + ], + [ + 0.17925868928432465, + 0.024740640074014664, + 0.9834908246994019, + -0.4591074538794724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9825312495231628, + 0.04410458728671074, + -0.18079590797424316, + -0.2632808103452663 + ], + [ + -0.04789538308978081, + 0.998713493347168, + -0.01665336824953556, + 0.11039140881718816 + ], + [ + 0.17982882261276245, + 0.025021744892001152, + 0.983379602432251, + -0.45452891521860617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.982501208782196, + 0.0428832545876503, + -0.1812523603439331, + -0.261296422199623 + ], + [ + -0.04673533886671066, + 0.9987620711326599, + -0.017033491283655167, + 0.10955821901157095 + ], + [ + 0.18029752373695374, + 0.025206316262483597, + 0.9832891225814819, + -0.45078661203787135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9824811220169067, + 0.041433725506067276, + -0.1816977560520172, + -0.25917505767095733 + ], + [ + -0.04535091295838356, + 0.998818576335907, + -0.017455581575632095, + 0.10887929340069359 + ], + [ + 0.18075984716415405, + 0.025389935821294785, + 0.9831994771957397, + -0.4451161987052576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9824872612953186, + 0.03978120908141136, + -0.18203364312648773, + -0.2570973650023744 + ], + [ + -0.04377086088061333, + 0.9988803267478943, + -0.01795079931616783, + 0.108647055158744 + ], + [ + 0.18111573159694672, + 0.02560419961810112, + 0.9831284284591675, + -0.43931938305094437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9824332594871521, + 0.03813589736819267, + -0.18267598748207092, + -0.253139894824173 + ], + [ + -0.04227584972977638, + 0.9989286661148071, + -0.01882108300924301, + 0.10917406259759052 + ], + [ + 0.18176251649856567, + 0.02621323987841606, + 0.9829930067062378, + -0.4320608479690713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9823748469352722, + 0.03636380285024643, + -0.1833503395318985, + -0.2502819284635621 + ], + [ + -0.040603868663311005, + 0.998986542224884, + -0.01942332461476326, + 0.108058179202112 + ], + [ + 0.18245820701122284, + 0.026525717228651047, + 0.9828557372093201, + -0.4264806943044469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9822573661804199, + 0.03511965274810791, + -0.18422025442123413, + -0.24618755264862163 + ], + [ + -0.03952449560165405, + 0.9990125298500061, + -0.02029232308268547, + 0.10765874986310264 + ], + [ + 0.18332567811012268, + 0.02721349522471428, + 0.9826754927635193, + -0.4198306492031426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9821299314498901, + 0.034435950219631195, + -0.185027077794075, + -0.2413587628184138 + ], + [ + -0.038984328508377075, + 0.9990191459655762, + -0.020999643951654434, + 0.1058432035752245 + ], + [ + 0.1841224581003189, + 0.027837533503770828, + 0.9825090169906616, + -0.41224038269874214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9820057153701782, + 0.03439798206090927, + -0.1856919825077057, + -0.23803358353875778 + ], + [ + -0.03921055048704147, + 0.9989819526672363, + -0.022305887192487717, + 0.1053514329565538 + ], + [ + 0.18473565578460693, + 0.029185593128204346, + 0.9823548197746277, + -0.4054796301029824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9818493127822876, + 0.034289732575416565, + -0.18653713166713715, + -0.23258850526165317 + ], + [ + -0.03935658186674118, + 0.9989482164382935, + -0.023526513949036598, + 0.10375284286769662 + ], + [ + 0.18553422391414642, + 0.030440954491496086, + 0.9821661710739136, + -0.400334876999259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9817841053009033, + 0.034313566982746124, + -0.1868758648633957, + -0.22883630844789582 + ], + [ + -0.03966908156871796, + 0.9989002346992493, + -0.024993281811475754, + 0.10364008741201582 + ], + [ + 0.18581272661685944, + 0.03195120021700859, + 0.9820655584335327, + -0.39309622298019964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9818009734153748, + 0.034171976149082184, + -0.18681292235851288, + -0.22503831104652303 + ], + [ + -0.03974328190088272, + 0.9988674521446228, + -0.02615833654999733, + 0.10277577463436771 + ], + [ + 0.1857074648141861, + 0.03310684114694595, + 0.9820472002029419, + -0.38724705657443487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9818499684333801, + 0.03390522673726082, + -0.18660414218902588, + -0.2215611796020656 + ], + [ + -0.039605703204870224, + 0.9988530874252319, + -0.026904644444584846, + 0.10096080960856901 + ], + [ + 0.18547791242599487, + 0.03380691260099411, + 0.9820666909217834, + -0.3814045657056409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9818221926689148, + 0.033081453293561935, + -0.1868979036808014, + -0.21562403249176773 + ], + [ + -0.03891560807824135, + 0.9988603591918945, + -0.027632489800453186, + 0.10128405676097484 + ], + [ + 0.18577077984809875, + 0.03440343588590622, + 0.98199063539505, + -0.3766259211543444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9818310737609863, + 0.03159080445766449, + -0.18710912764072418, + -0.21152190048146893 + ], + [ + -0.03751033544540405, + 0.9988988041877747, + -0.0281803198158741, + 0.10040814285745493 + ], + [ + 0.1860128492116928, + 0.03468683734536171, + 0.9819348454475403, + -0.37465403976674017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9818512797355652, + 0.030139142647385597, + -0.18724235892295837, + -0.20778047290605467 + ], + [ + -0.03614378720521927, + 0.9989333152770996, + -0.02873723953962326, + 0.10014307899652301 + ], + [ + 0.18617650866508484, + 0.03498334437608719, + 0.9818933010101318, + -0.36947034251045535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9818708300590515, + 0.028534937649965286, + -0.18739104270935059, + -0.20433205096906906 + ], + [ + -0.0346229113638401, + 0.9989709854125977, + -0.0292951837182045, + 0.10019527940734013 + ], + [ + 0.18636226654052734, + 0.03525210916996002, + 0.9818484783172607, + -0.36493616203198564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9818975925445557, + 0.026889385655522346, + -0.1874942183494568, + -0.200380362685065 + ], + [ + -0.03306685760617256, + 0.9990058541297913, + -0.029897533357143402, + 0.1004415803422799 + ], + [ + 0.18650388717651367, + 0.035556159913539886, + 0.9818106293678284, + -0.3619684956444276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9819052219390869, + 0.025777848437428474, + -0.1876101791858673, + -0.1959557598758791 + ], + [ + -0.03204464539885521, + 0.9990226030349731, + -0.03044692985713482, + 0.10106758774333711 + ], + [ + 0.18664196133613586, + 0.03590790182352066, + 0.9817715883255005, + -0.35718819823216746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9819395542144775, + 0.02479279786348343, + -0.1875634342432022, + -0.19205376510684555 + ], + [ + -0.03111141175031662, + 0.9990406632423401, + -0.03081897646188736, + 0.10195187971801373 + ], + [ + 0.18661941587924957, + 0.03609773516654968, + 0.9817689061164856, + -0.3508235980691137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9819755554199219, + 0.023929771035909653, + -0.18748705089092255, + -0.187846252517523 + ], + [ + -0.030286822468042374, + 0.9990568161010742, + -0.031115319579839706, + 0.10278308379287655 + ], + [ + 0.18656562268733978, + 0.03623287007212639, + 0.9817741513252258, + -0.349048407458373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9820339679718018, + 0.023084893822669983, + -0.18728677928447723, + -0.1841934171238461 + ], + [ + -0.0294591523706913, + 0.9990751147270203, + -0.031322795897722244, + 0.10352733644077906 + ], + [ + 0.1863904744386673, + 0.03627735748887062, + 0.9818057417869568, + -0.34625490089928784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9821569323539734, + 0.021962465718388557, + -0.18677625060081482, + -0.1804579364981603 + ], + [ + -0.028322918340563774, + 0.999103844165802, + -0.031453508883714676, + 0.10434422177640168 + ], + [ + 0.18591806292533875, + 0.036182332783937454, + 0.981898844242096, + -0.3448718820089424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9823253750801086, + 0.02068920247256756, + -0.18603459000587463, + -0.17588303546245035 + ], + [ + -0.02698676846921444, + 0.9991430640220642, + -0.03138294816017151, + 0.10370025851235197 + ], + [ + 0.18522587418556213, + 0.03584873676300049, + 0.9820418953895569, + -0.348980723039524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9825697541236877, + 0.019488882273435593, + -0.1848699450492859, + -0.17143371079620479 + ], + [ + -0.02569573000073433, + 0.9991816282272339, + -0.031237700954079628, + 0.10344824595829925 + ], + [ + 0.1841098666191101, + 0.035443589091300964, + 0.9822664260864258, + -0.34932067556155694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9828471541404724, + 0.01844828389585018, + -0.18349692225456238, + -0.16744012841300385 + ], + [ + -0.024606486782431602, + 0.9992058277130127, + -0.031339943408966064, + 0.10433499026540165 + ], + [ + 0.18277302384376526, + 0.035317592322826385, + 0.982520580291748, + -0.34868635247688035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9831085205078125, + 0.01704757660627365, + -0.18222807347774506, + -0.16139172806530386 + ], + [ + -0.023153584450483322, + 0.9992376565933228, + -0.0314326211810112, + 0.10356136645618325 + ], + [ + 0.18155328929424286, + 0.03512091189622879, + 0.9827537536621094, + -0.34976461688006244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9834858775138855, + 0.015833642333745956, + -0.1802910417318344, + -0.15644169219442317 + ], + [ + -0.021878540515899658, + 0.9992614388465881, + -0.031589411199092865, + 0.10267095705745995 + ], + [ + 0.1796577125787735, + 0.035012245178222656, + 0.9831058979034424, + -0.3470528978914828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9839634895324707, + 0.015234362334012985, + -0.17771832644939423, + -0.1521206799491837 + ], + [ + -0.021224629133939743, + 0.9992671608924866, + -0.03185413032770157, + 0.10409661064276825 + ], + [ + 0.17710281908512115, + 0.035115309059619904, + 0.9835656881332397, + -0.34187542721629144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9846026301383972, + 0.014218894764780998, + -0.17422835528850555, + -0.14642087329279732 + ], + [ + -0.02012048475444317, + 0.9992803931236267, + -0.03215331956744194, + 0.10516656889504679 + ], + [ + 0.17364580929279327, + 0.03516380116343498, + 0.984180212020874, + -0.34044046577972337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9853899478912354, + 0.013676207512617111, + -0.169763445854187, + -0.1412921626161079 + ], + [ + -0.01950841024518013, + 0.9992736577987671, + -0.03273447975516319, + 0.10627293231318127 + ], + [ + 0.16919246315956116, + 0.03556803986430168, + 0.9849410057067871, + -0.33972778577860946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.986312985420227, + 0.013207419775426388, + -0.16435392200946808, + -0.1358900696784258 + ], + [ + -0.018909871578216553, + 0.999270498752594, + -0.033180031925439835, + 0.10464746713638307 + ], + [ + 0.1637958139181137, + 0.03583380952477455, + 0.9858432412147522, + -0.33671299666166304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9873601794242859, + 0.010884657502174377, + -0.15811827778816223, + -0.12782011327711312 + ], + [ + -0.016485221683979034, + 0.9992806911468506, + -0.03415180742740631, + 0.10659787176025881 + ], + [ + 0.15763279795646667, + 0.03632675111293793, + 0.986829400062561, + -0.33407265670396186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.988468587398529, + 0.009643291123211384, + -0.15111875534057617, + -0.11826353301168294 + ], + [ + -0.015115230344235897, + 0.999269425868988, + -0.03510275110602379, + 0.1071745827794075 + ], + [ + 0.15066984295845032, + 0.036982160061597824, + 0.9878921508789062, + -0.333360112901475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9900294542312622, + 0.007642705924808979, + -0.1406528800725937, + -0.10741361701659657 + ], + [ + -0.01289158035069704, + 0.9992524981498718, + -0.03644469752907753, + 0.11049722265955565 + ], + [ + 0.1402692049741745, + 0.03789456561207771, + 0.9893879890441895, + -0.33242358590501386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9916514158248901, + 0.00023322785273194313, + -0.1289471685886383, + -0.0861423913550538 + ], + [ + -0.005395753774791956, + 0.9991975426673889, + -0.03968808799982071, + 0.11961439281299309 + ], + [ + 0.12883442640304565, + 0.040052518248558044, + 0.990856945514679, + -0.34503096416189866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9934285283088684, + -0.0009358717361465096, + -0.11445049941539764, + -0.07691902171298107 + ], + [ + -0.003709289710968733, + 0.9991780519485474, + -0.040366943925619125, + 0.1210804774914239 + ], + [ + 0.11439420282840729, + 0.04052620008587837, + 0.9926084876060486, + -0.34589621674974225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.995086133480072, + -0.0023501035757362843, + -0.09898491203784943, + -0.06686494534331802 + ], + [ + -0.0017376969335600734, + 0.9991497993469238, + -0.04119075834751129, + 0.12292076592509812 + ], + [ + 0.098997563123703, + 0.04116035997867584, + 0.9942360520362854, + -0.3438956950967376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9966729879379272, + -0.0011388587299734354, + -0.08149614930152893, + -0.05801740864581252 + ], + [ + -0.002216663910076022, + 0.999153733253479, + -0.041071683168411255, + 0.12316050086472487 + ], + [ + 0.08147396147251129, + 0.04111568629741669, + 0.9958270192146301, + -0.33876284244092736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9981791973114014, + -0.0014293247368186712, + -0.06030156835913658, + -0.0511136452778167 + ], + [ + -0.001051811734214425, + 0.9991547465324402, + -0.04109368473291397, + 0.12327169477939608 + ], + [ + 0.060309331864118576, + 0.04108228534460068, + 0.9973339438438416, + -0.33729459435553166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9991598129272461, + -0.001138758030720055, + -0.0409679152071476, + -0.047012603838512725 + ], + [ + -0.0005320894997566938, + 0.9991692304611206, + -0.04075029492378235, + 0.12290866358054651 + ], + [ + 0.04098028317093849, + 0.040737852454185486, + 0.9983291029930115, + -0.33613956581096394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9997491836547852, + -0.002083801431581378, + -0.02229844406247139, + -0.04223346671467093 + ], + [ + 0.0011749130208045244, + 0.9991708993911743, + -0.040695901960134506, + 0.12528629644899758 + ], + [ + 0.02236475795507431, + 0.040659498423337936, + 0.9989227056503296, + -0.33610140862899857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9999881982803345, + -0.003202984342351556, + -0.003647994017228484, + -0.03529252058637605 + ], + [ + 0.0030523084569722414, + 0.9991713762283325, + -0.04058602824807167, + 0.12534417607897036 + ], + [ + 0.0037749677430838346, + 0.040574412792921066, + 0.9991694092750549, + -0.33419438522208383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9998846054077148, + -0.003211495466530323, + 0.014846907928586006, + -0.032047518362870085 + ], + [ + 0.0038110283203423023, + 0.9991710186004639, + -0.04053068161010742, + 0.12501976926987235 + ], + [ + -0.01470443606376648, + 0.04058258980512619, + 0.9990679621696472, + -0.33137789739144813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9994226098060608, + -0.0033369141165167093, + 0.033812541514635086, + -0.025039237427676247 + ], + [ + 0.004710329230874777, + 0.9991635680198669, + -0.04062063246965408, + 0.12426905587315559 + ], + [ + -0.03364871069788933, + 0.04075644910335541, + 0.9986023902893066, + -0.33108003027535776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9985657334327698, + -0.003953262232244015, + 0.05339303985238075, + -0.01875791821830176 + ], + [ + 0.0061631882563233376, + 0.9991282224655151, + -0.041288770735263824, + 0.12284199416234687 + ], + [ + -0.05318326875567436, + 0.04155862331390381, + 0.9977195858955383, + -0.34044453885104203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9973883628845215, + -0.0035266918130218983, + 0.07213891297578812, + -0.013218792109825723 + ], + [ + 0.006579327862709761, + 0.9990907907485962, + -0.04212234169244766, + 0.12158405467867853 + ], + [ + -0.07192476838827133, + 0.04248695820569992, + 0.9965047240257263, + -0.337987357744494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9958136081695557, + -0.004429983906447887, + 0.09129996597766876, + -0.009505115814909742 + ], + [ + 0.008394437842071056, + 0.9990361928939819, + -0.043084144592285156, + 0.12115390317665566 + ], + [ + -0.0910211056470871, + 0.043670184910297394, + 0.9948909878730774, + -0.3425632903221491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9940395355224609, + -0.005503532476723194, + 0.10888143628835678, + -0.004138397692224464 + ], + [ + 0.010375761426985264, + 0.9989674091339111, + -0.04423222690820694, + 0.12209114377965799 + ], + [ + -0.10852556675672531, + 0.04509831219911575, + 0.9930701851844788, + -0.34868403123439967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.991730809211731, + -0.005816503427922726, + 0.12820345163345337, + -0.0022269069383273254 + ], + [ + 0.01169636007398367, + 0.9989113807678223, + -0.04515846073627472, + 0.12255889824113332 + ], + [ + -0.12780120968818665, + 0.046284548938274384, + 0.9907192587852478, + -0.34618062037873915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.988879919052124, + -0.005574265494942665, + 0.14861160516738892, + -0.0020882423357987726 + ], + [ + 0.01256357692182064, + 0.998856246471405, + -0.04613353684544563, + 0.1225123741618685 + ], + [ + -0.14818447828292847, + 0.04748762026429176, + 0.9878189563751221, + -0.34968640013522395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9859582185745239, + -0.004900158848613501, + 0.1669202595949173, + -0.0013353173439768521 + ], + [ + 0.012929679825901985, + 0.9988088011741638, + -0.04705122485756874, + 0.12203734645569649 + ], + [ + -0.16649086773395538, + 0.04854876920580864, + 0.9848470687866211, + -0.3598133860246555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.982938826084137, + -0.0045036314986646175, + 0.18387755751609802, + -0.00020927868821230293 + ], + [ + 0.013548627495765686, + 0.9987571835517883, + -0.047963645309209824, + 0.12270312154212515 + ], + [ + -0.18343302607536316, + 0.04963662102818489, + 0.9817782640457153, + -0.3612767669377295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9795024394989014, + -0.004962030332535505, + 0.20137128233909607, + 0.003074276782068852 + ], + [ + 0.015034716576337814, + 0.998708963394165, + -0.048521898686885834, + 0.12428140211346987 + ], + [ + -0.200870543718338, + 0.05055487900972366, + 0.9783124327659607, + -0.3649431790451746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9752216935157776, + -0.004650600720196962, + 0.2211809903383255, + 0.004757653954816428 + ], + [ + 0.015756860375404358, + 0.9987000823020935, + -0.048475585877895355, + 0.12296460906597409 + ], + [ + -0.2206680327653885, + 0.050759561359882355, + 0.9740272760391235, + -0.37675900216440894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9709742069244385, + -0.004830503836274147, + 0.23913556337356567, + 0.0006493348902645143 + ], + [ + 0.016892941668629646, + 0.998684287071228, + -0.048417989164590836, + 0.12258770625736264 + ], + [ + -0.23858705163002014, + 0.05105232074856758, + 0.9697782397270203, + -0.3844478534766146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.96712726354599, + -0.004801042843610048, + 0.2542475163936615, + -0.0006740532722324132 + ], + [ + 0.017634253948926926, + 0.9986810684204102, + -0.048220161348581314, + 0.12221730079401184 + ], + [ + -0.25368067622184753, + 0.05111849680542946, + 0.9659363627433777, + -0.3929845615395823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9629071950912476, + -0.004831164609640837, + 0.2697894871234894, + -0.001291160201905547 + ], + [ + 0.018378276377916336, + 0.9986921548843384, + -0.04771027714014053, + 0.1222340041539959 + ], + [ + -0.26920613646507263, + 0.05089883506298065, + 0.9617366194725037, + -0.4018816596591795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9586456418037415, + -0.004641810432076454, + 0.2845645844936371, + -0.0031814458654136272 + ], + [ + 0.018821347504854202, + 0.9987121224403381, + -0.047114692628383636, + 0.12235649357977753 + ], + [ + -0.2839793860912323, + 0.05052218586206436, + 0.9574984312057495, + -0.406150494576306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9544206261634827, + -0.004819572903215885, + 0.2984258830547333, + -0.0032845161726849305 + ], + [ + 0.019598502665758133, + 0.9987236857414246, + -0.04655022546648979, + 0.12359246732012646 + ], + [ + -0.29782065749168396, + 0.05027719959616661, + 0.953296959400177, + -0.41175314339431557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9492758512496948, + -0.004413415212184191, + 0.31441357731819153, + -0.009039906268637325 + ], + [ + 0.0198361799120903, + 0.9987504482269287, + -0.0458698533475399, + 0.12444812137734246 + ], + [ + -0.3138182461261749, + 0.04977991059422493, + 0.9481772184371948, + -0.4157263760208278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.944290041923523, + -0.004668522626161575, + 0.3290814459323883, + -0.01149955717292992 + ], + [ + 0.020712237805128098, + 0.9987602829933167, + -0.04526425525546074, + 0.1262083282966066 + ], + [ + -0.328462153673172, + 0.049558598548173904, + 0.94321608543396, + -0.41450566148033013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9395166039466858, + -0.004746832884848118, + 0.3424704670906067, + -0.014953339380287641 + ], + [ + 0.02131974697113037, + 0.9987754225730896, + -0.044643957167863846, + 0.12826447650790215 + ], + [ + -0.3418391942977905, + 0.04924512282013893, + 0.9384673237800598, + -0.4158856838075696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9348528981208801, + -0.00490470789372921, + 0.3550014793872833, + -0.019379315444746532 + ], + [ + 0.02200976200401783, + 0.9987819790840149, + -0.04416082054376602, + 0.12835542873756306 + ], + [ + -0.35435250401496887, + 0.049097366631031036, + 0.9338221549987793, + -0.4216961294412613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9302802681922913, + -0.005317904055118561, + 0.36681103706359863, + -0.022063999933165473 + ], + [ + 0.022911369800567627, + 0.9987851977348328, + -0.043626151978969574, + 0.1300195980313662 + ], + [ + -0.366133451461792, + 0.048988692462444305, + 0.9292719960212708, + -0.42853341581450927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9247729778289795, + -0.0063127633184194565, + 0.3804669678211212, + -0.025394678113831056 + ], + [ + 0.024282310158014297, + 0.9988034963607788, + -0.042448922991752625, + 0.13108496479488707 + ], + [ + -0.3797437846660614, + 0.048494234681129456, + 0.9238197803497314, + -0.4348922683902689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9195274114608765, + -0.006910729221999645, + 0.39296504855155945, + -0.032401569105584074 + ], + [ + 0.025198496878147125, + 0.9988248944282532, + -0.041398342698812485, + 0.13369777472035305 + ], + [ + -0.3922171890735626, + 0.047969039529561996, + 0.9186210632324219, + -0.44111963189735603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9148487448692322, + -0.00798312108963728, + 0.4037178158760071, + -0.03832680330485911 + ], + [ + 0.02612413465976715, + 0.9988800883293152, + -0.03944699466228485, + 0.13680525292818613 + ], + [ + -0.4029507637023926, + 0.04663480818271637, + 0.9140327572822571, + -0.4469706830462894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9103585481643677, + -0.009548302739858627, + 0.41371023654937744, + -0.04333961866796017 + ], + [ + 0.02724452316761017, + 0.9989476799964905, + -0.03689546138048172, + 0.13830066323280335 + ], + [ + -0.41292256116867065, + 0.04485943913459778, + 0.9096606969833374, + -0.4549203723669052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a26ff1a4-c99b-46a3-a19b-a2c53b4a92ad/pan_left/transforms.json b/dynpose_eval/camera_controls/a26ff1a4-c99b-46a3-a19b-a2c53b4a92ad/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5973e5c248751afe49dbb8bf6b4d798477b085 --- /dev/null +++ b/dynpose_eval/camera_controls/a26ff1a4-c99b-46a3-a19b-a2c53b4a92ad/pan_left/transforms.json @@ -0,0 +1,6523 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 186, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -2.4445491362712346e-05, + -2.1058160200482234e-05, + 0.0001496502081863582 + ], + [ + 2.4444691007374786e-05, + 1.0, + -3.7966299714753404e-05, + 0.00012565856741275638 + ], + [ + 2.1059087885078043e-05, + 3.79657831217628e-05, + 1.0, + 8.955549128586426e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999969766573514, + 0.000972784764599055, + 0.002252457705132698, + -0.007177291437983513 + ], + [ + -0.0009705176911522453, + 0.9999990463256836, + -0.0010073835917760875, + -0.0001780007587512955 + ], + [ + -0.0022534355928568854, + 0.001005194615572691, + 0.9999969780411924, + -0.010084559209644794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999878520523509, + 0.0021288937423378233, + 0.004443530578239499, + -0.015904327854514122 + ], + [ + -0.002125326971056415, + 0.9999974370002749, + -0.0008072043256047053, + 0.00044645543675869703 + ], + [ + -0.004445237706605579, + 0.0007977505447342994, + 0.9999898238451428, + -0.0157126747071743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999817322840677, + 0.002692475914955139, + 0.005409991955192914, + -0.023926353082060814 + ], + [ + -0.002694731583943245, + 0.9999963045120239, + 0.0004096942429712118, + 0.0034316268283873796 + ], + [ + -0.005408868508644773, + -0.0004242652503307909, + 0.9999853038254792, + -0.031042976304888725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999980618143038, + 0.003827301785349846, + 0.0049074550771889365, + -0.03584260866045952 + ], + [ + -0.003837900862148472, + 0.9999903440475464, + 0.0021521942203823626, + 0.003442811779677868 + ], + [ + -0.004899171287829686, + -0.0021709869615733624, + 0.9999856377278958, + -0.04373684152960777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999904463871696, + 0.003470555879175663, + 0.0026682713581234674, + -0.04538914933800697 + ], + [ + -0.0034780379967694476, + 0.9999900460243225, + 0.00280453992539408, + 0.004422442056238651 + ], + [ + -0.002658511060061473, + -0.0028137932531535625, + 0.9999925231464019, + -0.050807833671569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999964190863028, + 0.0025719974655658007, + -0.0007289311753015424, + -0.05405930057168007 + ], + [ + -0.0025701521573325537, + 0.9999935030937195, + 0.0025214265792834465, + 0.0045775603502988815 + ], + [ + 0.0007354116711534344, + -0.0025195442140102386, + 0.999996542880825, + -0.06231451407074928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999899031056421, + 0.0010603435803204775, + -0.00437167990570711, + -0.0619724877178669 + ], + [ + -0.0010533969770347245, + 0.999998152256012, + 0.0015910104742259178, + 0.004530402831733227 + ], + [ + 0.004373358431709316, + -0.0015863892622292042, + 0.9999891711869175, + -0.07384711503982544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999725326188393, + 0.0005099483532831073, + -0.007391718578675721, + -0.06873870640993118 + ], + [ + -0.000505940149380176, + 0.9999997019767761, + 0.0005441173198364753, + 0.005539285019040108 + ], + [ + 0.0073919942324921035, + -0.0005403626128099859, + 0.9999725294980141, + -0.08112888038158417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999512313724108, + 4.8669600801076754e-05, + -0.009874186312065858, + -0.07600066065788269 + ], + [ + -5.335979153955086e-05, + 0.9999998807907107, + -0.0004747324765557227, + 0.005273079965263605 + ], + [ + 0.009874161978282675, + 0.00047523624380119156, + 0.9999511124633885, + -0.09522373229265213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999308663814113, + -0.00020838290220126515, + -0.011758583717206249, + -0.08637143671512604 + ], + [ + 0.00020110709925646862, + 0.9999997615814211, + -0.0006199435740519725, + 0.00566500797867775 + ], + [ + 0.011758710162099038, + 0.0006175360176712276, + 0.9999306857600894, + -0.10836520045995712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998858347332957, + -0.00024792691692709923, + -0.015109190635412996, + -0.09317838400602341 + ], + [ + 0.0002512771751569836, + 0.9999999403953552, + 0.00021983865546858588, + 0.0086593022570014 + ], + [ + 0.015109135228433438, + -0.00022361014271155, + 0.9998858355958554, + -0.11833322793245316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998051408431246, + -0.0011130505008623004, + -0.019708387974215594, + -0.09910132735967636 + ], + [ + 0.001142210353693768, + 0.9999982714653015, + 0.0014683750495708189, + 0.012044195085763931 + ], + [ + 0.019706719568428777, + -0.001490600174292922, + 0.9998046922720977, + -0.12656046450138092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996850921403614, + -0.002616345649585128, + -0.02495667952562541, + -0.10372590273618698 + ], + [ + 0.002690474462639152, + 0.9999920725822449, + 0.0029371840486395536, + 0.010699105449020863 + ], + [ + 0.024948797197408626, + -0.003003404475748539, + 0.9996842237152064, + -0.14280986785888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995622871580131, + -0.0023035372141748667, + -0.029493582158332546, + -0.10819388926029205 + ], + [ + 0.002407857432014218, + 0.9999909400939941, + 0.0035020282127811025, + 0.01231271680444479 + ], + [ + 0.02948524905714247, + -0.003571511944755912, + 0.9995588156767238, + -0.14726455509662628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994397060010921, + -0.002813737839460373, + -0.03335185730139534, + -0.1121620163321495 + ], + [ + 0.0029315985962567763, + 0.9999896287918091, + 0.0034854915376020482, + 0.013336277566850185 + ], + [ + 0.03334170352556856, + -0.003581312717869878, + 0.9994375964624851, + -0.15437476336956024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9993254644098942, + -0.0029478680808097124, + -0.03660574033050712, + -0.11304034292697906 + ], + [ + 0.0030821099041882616, + 0.9999887347221375, + 0.0036113478730213297, + 0.013828546740114689 + ], + [ + 0.03659468145364855, + -0.003721734508872032, + 0.9993232704319976, + -0.1612004041671753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992728727916554, + -0.003078451147302985, + -0.03800368050459423, + -0.11540522426366806 + ], + [ + 0.00323468179857868, + 0.9999865889549255, + 0.004050129099754783, + 0.013587361201643944 + ], + [ + 0.03799070110554152, + -0.004170113708823919, + 0.9992693692990275, + -0.17225174605846405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992452078057277, + -0.0034715181682258853, + -0.03869045008685586, + -0.11707933247089386 + ], + [ + 0.0036516680061764216, + 0.9999828338623049, + 0.00458649222346959, + 0.014764520339667797 + ], + [ + 0.0386738632984314, + -0.004724315367639066, + 0.9992407412350568, + -0.18069948256015778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9992040909539861, + -0.003704782109707594, + -0.03971768547665713, + -0.1181965097784996 + ], + [ + 0.003911287525216075, + 0.9999792575836182, + 0.005122882777661044, + 0.014486987143754959 + ], + [ + 0.03969788134007377, + -0.005274152848869562, + 0.9991978261797556, + -0.1864681839942932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991781016958515, + -0.0034819776192307472, + -0.04038493161609131, + -0.11868631094694138 + ], + [ + 0.0036880760702433, + 0.9999805688858032, + 0.005029972051623114, + 0.013799444772303104 + ], + [ + 0.04036663137176688, + -0.005174781195819378, + 0.9991715239848138, + -0.19223830103874207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9991892724320904, + -0.0034825967159122237, + -0.040108810160702266, + -0.11992789059877396 + ], + [ + 0.003644761608993693, + 0.999985456466675, + 0.003970715374648646, + 0.013216502033174038 + ], + [ + 0.040094399378356814, + -0.004113683477044106, + 0.9991874348374755, + -0.19639581441879272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9991664037305157, + -0.003217942314222456, + -0.04069537330104261, + -0.11877552419900894 + ], + [ + 0.0033136300028190767, + 0.9999918937683108, + 0.002284086798642558, + 0.01068352535367012 + ], + [ + 0.04068769336440678, + -0.0024170321412384514, + 0.9991689686146558, + -0.20339137315750122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991391121591953, + -0.0033116075210273266, + -0.041353163593399286, + -0.11733126640319824 + ], + [ + 0.0032719011249535907, + 0.9999940991401672, + -0.0010278211144087524, + 0.009342333301901817 + ], + [ + 0.04135632387418056, + 0.0008916328079067171, + 0.9991440783415325, + -0.2112419456243515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991044340945278, + -0.002994960406795144, + -0.042206127111468004, + -0.116057388484478 + ], + [ + 0.0027804847306135507, + 0.9999829530715942, + -0.005139408843748253, + 0.007969074882566929 + ], + [ + 0.04222079807967415, + 0.005017452407628298, + 0.9990957054430887, + -0.21592630445957184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990472847409951, + -0.0016913042636588216, + -0.04360816015998664, + -0.11630488187074661 + ], + [ + 0.0012250471566701312, + 0.9999418258666992, + -0.010716478012516847, + 0.007817409932613373 + ], + [ + 0.043623747389509665, + 0.010652845725417137, + 0.9989912063912838, + -0.22104883193969727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.998966212639811, + -0.0013672142522409558, + -0.045438052020307075, + -0.11533507704734802 + ], + [ + 0.0006305992171092591, + 0.9998682141304016, + -0.016221796893773763, + 0.006540221627801657 + ], + [ + 0.045454241594245354, + 0.0161763746291399, + 0.9988354116383887, + -0.2286672592163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9988544710629441, + -0.0007085319375619292, + -0.04784652006626359, + -0.1118534505367279 + ], + [ + -0.000317931853792731, + 0.9997700452804565, + -0.02144224336582358, + 0.006181634031236172 + ], + [ + 0.04785070975872653, + 0.021432893350720406, + 0.9986245461154951, + -0.23136284947395325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9987174315996715, + 0.0003936620487365873, + -0.05062996281114392, + -0.11067645996809006 + ], + [ + -0.0017353352122975192, + 0.9996483922004702, + -0.026458361595351587, + 0.005430562887340784 + ], + [ + 0.0506017449321585, + 0.02651228569447995, + 0.9983669645402208, + -0.23887227475643158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9985122124464478, + 0.0015578173333778977, + -0.054506169255018666, + -0.10788282006978989 + ], + [ + -0.00324714175454553, + 0.9995166063308716, + -0.030918451735412574, + 0.005299642216414213 + ], + [ + 0.0544316578097178, + 0.031049441546201706, + 0.9980346327173771, + -0.24559256434440613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9982619572705306, + 0.0030689912382513285, + -0.05885311947103891, + -0.10712236166000366 + ], + [ + -0.005109030045543724, + 0.9993901252746582, + -0.034544145332514896, + 0.004748063627630472 + ], + [ + 0.058711207267911125, + 0.03478478640317917, + 0.9976687766672853, + -0.2550327777862549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979066826202218, + 0.003899564500898123, + -0.06455254477152723, + -0.1044490858912468 + ], + [ + -0.006368651747425274, + 0.9992541074752808, + -0.03808780109639458, + 0.006271342746913433 + ], + [ + 0.0643558691495064, + 0.03841918334364891, + 0.997187200538681, + -0.25820595026016235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9975342842734614, + 0.004335210658609868, + -0.07004719066184822, + -0.09910176694393158 + ], + [ + -0.007183229496887056, + 0.9991554021835329, + -0.040457985715368766, + 0.005630734376609325 + ], + [ + 0.06981263406756767, + 0.040861394256353385, + 0.9967228973672031, + -0.26244980096817017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9970876327328153, + 0.004419807344675064, + -0.07613625749427194, + -0.09259382635354996 + ], + [ + -0.007669508102351469, + 0.9990694522857666, + -0.042443334971785936, + 0.005887195002287626 + ], + [ + 0.0758778159812909, + 0.04290365055203438, + 0.996193685875385, + -0.2684610188007355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9966441271519683, + 0.005155686289072037, + -0.08169373965882144, + -0.08823021501302719 + ], + [ + -0.008769688311379382, + 0.9989956021308899, + -0.043941565861232684, + 0.005473192781209946 + ], + [ + 0.08138513744967471, + 0.04451053589582443, + 0.9956883343888969, + -0.2758326828479767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962336182156052, + 0.0050741140730679035, + -0.08656146411206107, + -0.08267389982938766 + ], + [ + -0.00900729723245866, + 0.9989414811134338, + -0.045108168214030596, + 0.00565947825089097 + ], + [ + 0.08624095106507297, + 0.04571795463562012, + 0.9952247780761514, + -0.2837727963924408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9958772638499345, + 0.004791426006704569, + -0.09058452612635204, + -0.07588876038789749 + ], + [ + -0.008908173486868756, + 0.9989429116249084, + -0.04509695222405388, + 0.006478885654360056 + ], + [ + 0.09027268934316425, + 0.04571797326207161, + 0.9948671694768741, + -0.2941548824310303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.995600793000654, + 0.005238900426775218, + -0.09355017900875287, + -0.06993319094181061 + ], + [ + -0.009377953154537537, + 0.9989936947822573, + -0.043859555880966225, + 0.006400743965059519 + ], + [ + 0.09322626434188097, + 0.04454391449689866, + 0.9946480430100705, + -0.3016414940357208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9953040959808459, + 0.00550163770094514, + -0.0966412557589828, + -0.06187250092625618 + ], + [ + -0.009632513794907909, + 0.9990572333335879, + -0.04233005227550948, + 0.007206278387457132 + ], + [ + 0.09631726223969261, + 0.043062169104814536, + 0.9944187699288832, + -0.30878570675849915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9949752871785347, + 0.005903360899537802, + -0.09994646324111564, + -0.053440552204847336 + ], + [ + -0.010001338641049485, + 0.9991274476051331, + -0.040550463389313056, + 0.008323803544044495 + ], + [ + 0.0996198738007242, + 0.04134630784392357, + 0.9941661886642061, + -0.31415992975234985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9946947970035757, + 0.007133273873478176, + -0.10262232559091107, + -0.04784339293837547 + ], + [ + -0.01119129227932621, + 0.9991756677627566, + -0.039021982837675086, + 0.009032103233039379 + ], + [ + 0.10225938035460759, + 0.03996343910694123, + 0.9939547225282579, + -0.31960636377334595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9944215857487481, + 0.008594557642936707, + -0.10512759695315564, + -0.04019109532237053 + ], + [ + -0.0126523060650533, + 0.9991979002952576, + -0.03799252377653095, + 0.00994954165071249 + ], + [ + 0.104716749615834, + 0.0391106940805912, + 0.993732750149225, + -0.3271165192127228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9942462153629058, + 0.009520886465907099, + -0.10669510534126371, + -0.032867420464754105 + ], + [ + -0.013631267389039716, + 0.9991900324821474, + -0.037861726530779745, + 0.012913940474390984 + ], + [ + 0.10624820676475134, + 0.03909826651215554, + 0.9935706775204095, + -0.33371302485466003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9941613199759122, + 0.011036466807126999, + -0.10733801466428224, + -0.026304297149181366 + ], + [ + -0.015153711719055787, + 0.9991772770881653, + -0.03761806153964281, + 0.015408768318593502 + ], + [ + 0.10683453414644323, + 0.03902499005198479, + 0.9935106449120127, + -0.340472012758255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9940817167529649, + 0.013458508998155594, + -0.10779818641782225, + -0.021787680685520172 + ], + [ + -0.017459697220408407, + 0.9991898536682129, + -0.03625997318686926, + 0.01741807907819748 + ], + [ + 0.10722284819366754, + 0.037927497178316116, + 0.9935113057572663, + -0.3506094515323639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.993913587639109, + 0.015742748975753788, + -0.10903174901841411, + -0.017183693125844002 + ], + [ + -0.01952534899176195, + 0.9992408156394961, + -0.0337123048689185, + 0.01859462261199951 + ], + [ + 0.10841825111338863, + 0.03563600033521653, + 0.9934664219595042, + -0.35732731223106384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9936546921849544, + 0.018085362389683723, + -0.11101041566144934, + -0.013605369254946709 + ], + [ + -0.021623478744141018, + 0.9992931485176086, + -0.030751088913597326, + 0.02083374559879303 + ], + [ + 0.11037579977935938, + 0.03295639529824257, + 0.9933433491591888, + -0.36240026354789734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9933560690251406, + 0.019229168072342873, + -0.11346354326304535, + -0.009673791006207466 + ], + [ + -0.022554165139101003, + 0.9993507862091064, + -0.028093895065513203, + 0.023360196501016617 + ], + [ + 0.11284965898359717, + 0.030466316267848015, + 0.9931448705333554, + -0.3681650161743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9930604603641499, + 0.02037135511636734, + -0.11582703403652288, + -0.007328792009502649 + ], + [ + -0.023522542080937535, + 0.9993876218795776, + -0.02590437220798691, + 0.024795208126306534 + ], + [ + 0.11522839924251552, + 0.028449153527617455, + 0.9929315773603221, + -0.3718273341655731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9927419531329915, + 0.020545905455946922, + -0.11849581888341482, + -0.004429283551871777 + ], + [ + -0.023624993139096793, + 0.999417245388031, + -0.024638749288308805, + 0.02477576956152916 + ], + [ + 0.11792053776103002, + 0.027259383350610733, + 0.9926487889693069, + -0.3784421980381012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9924479330521149, + 0.02007885463535786, + -0.12101224317680825, + -0.0026162033900618553 + ], + [ + -0.023219652481391382, + 0.9994276762008669, + -0.02460026792890413, + 0.02610999532043934 + ], + [ + 0.12044903664949379, + 0.027224346995353706, + 0.9923461133916469, + -0.38525253534317017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9920911774479089, + 0.019345100969076157, + -0.12401979247564, + -0.000160644092829898 + ], + [ + -0.022632964148106314, + 0.9994272589683533, + -0.025156802121604628, + 0.02786100283265114 + ], + [ + 0.12346210546909495, + 0.02776477485895157, + 0.9919608215334952, + -0.3897887170314789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9916918382686554, + 0.018403753638267517, + -0.1273130290791629, + 0.0015845984453335404 + ], + [ + -0.021813838998475103, + 0.9994382262229919, + -0.02544272412355766, + 0.029588907957077026 + ], + [ + 0.12677326489406088, + 0.02800852805376053, + 0.9915361935718285, + -0.39618533849716187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9912568075140832, + 0.0173906646668911, + -0.13079583671106162, + 0.0003849066561087966 + ], + [ + -0.020831737465166124, + 0.9994707107543948, + -0.0249865767245913, + 0.0316309817135334 + ], + [ + 0.13029207159749276, + 0.02749281749129296, + 0.991094423409205, + -0.39759883284568787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9906690490009555, + 0.016554862260818485, + -0.13528030674874297, + -0.0018669137498363853 + ], + [ + -0.019945881597992973, + 0.999518930912018, + -0.02374971215846123, + 0.032896656543016434 + ], + [ + 0.134822058728643, + 0.02622638829052449, + 0.9905227057422079, + -0.403307169675827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9899903459611789, + 0.015210629440844059, + -0.14031308409624607, + -0.0027775282505899668 + ], + [ + -0.018491229751550653, + 0.9995846152305603, + -0.02210647970586998, + 0.033431269228458405 + ], + [ + 0.13991853924174416, + 0.024479761719703674, + 0.9898603528489899, + -0.41148003935813904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9892837193509849, + 0.013781825080513958, + -0.14535397694172306, + -0.005041410680860281 + ], + [ + -0.016899238818462305, + 0.9996524453163149, + -0.020234105961992828, + 0.03433103486895561 + ], + [ + 0.14502458990803485, + 0.022473644465208057, + 0.9891727734513875, + -0.41348588466644287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9884500906457712, + 0.012035842984914783, + -0.15106808352225498, + -0.007678994908928871 + ], + [ + -0.01505632389210556, + 0.9997086524963381, + -0.01886624562367912, + 0.03509383648633957 + ], + [ + 0.1507969940334557, + 0.020922873169183735, + 0.9883433173363388, + -0.41502144932746887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9875212527312507, + 0.010862272232770922, + -0.1571106867712505, + -0.010715185664594173 + ], + [ + -0.013778780974376903, + 0.9997521638870241, + -0.017486134437105644, + 0.03470354527235031 + ], + [ + 0.15688181047363334, + 0.019432721659541134, + 0.9874262100709392, + -0.41675445437431335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9865314412221612, + 0.009761881083250048, + -0.16328002910357467, + -0.015892542898654938 + ], + [ + -0.012632909100325634, + 0.9997831583023074, + -0.016554376694552578, + 0.033569637686014175 + ], + [ + 0.16308302107458025, + 0.0183941163122654, + 0.9864408630224819, + -0.4190342426300049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9855816944456501, + 0.008916595950722694, + -0.1689650406568579, + -0.02052357606589794 + ], + [ + -0.011937754165327873, + 0.999786376953125, + -0.016872966218310935, + 0.03482542186975479 + ], + [ + 0.16877850282370865, + 0.01864674873650074, + 0.9854776317592453, + -0.4209146201610565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9845546235550819, + 0.008829769678413868, + -0.17485477920337383, + -0.024340925738215446 + ], + [ + -0.012013966311737864, + 0.9997805953025818, + -0.017160381137212792, + 0.03464267775416374 + ], + [ + 0.1746648870598436, + 0.01899603195488453, + 0.9844447009631817, + -0.42340588569641113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9834700688171346, + 0.009311131201684475, + -0.18083113713081542, + -0.02918211743235588 + ], + [ + -0.012654539289741062, + 0.9997695088386536, + -0.017344224212730644, + 0.03549472987651825 + ], + [ + 0.1806279660151729, + 0.019345860928297043, + 0.9833612104538749, + -0.42703327536582947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9823734892083488, + 0.010403087362647057, + -0.18663891987922526, + -0.03716316446661949 + ], + [ + -0.013856397221804055, + 0.9997559189796448, + -0.017207606076729557, + 0.03675277158617973 + ], + [ + 0.18641435825193284, + 0.0194904375821352, + 0.9822778876464571, + -0.428693562746048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9811119365006044, + 0.011924075894057754, + -0.19307313945125673, + -0.04224628582596779 + ], + [ + -0.015431243401455179, + 0.9997419118881228, + -0.016671289621466117, + 0.03688076138496399 + ], + [ + 0.19282451970260064, + 0.019335757941007618, + 0.9810427055626056, + -0.43143922090530396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9799012176467683, + 0.012731499969959259, + -0.199076797632806, + -0.049553282558918 + ], + [ + -0.016327937821155103, + 0.9997316002845764, + -0.01643427035936798, + 0.036497969180345535 + ], + [ + 0.19881412853026778, + 0.019354475662112236, + 0.9798460759605232, + -0.4343069791793823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.978776312617627, + 0.013640938326716423, + -0.2044770167136516, + -0.05566360801458359 + ], + [ + -0.017380379567798695, + 0.9997127652168274, + -0.01650299966195429, + 0.0367545410990715 + ], + [ + 0.20419316835265164, + 0.019706634804606438, + 0.9787322596733162, + -0.43366146087646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9778071040790115, + 0.013809841126203537, + -0.20905163491328457, + -0.060863837599754333 + ], + [ + -0.017697415566644864, + 0.9997032880783081, + -0.016737081207743764, + 0.03610386699438095 + ], + [ + 0.20875846764067868, + 0.0200653113424778, + 0.9777613395006964, + -0.4355143904685974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9769994235088213, + 0.014320707879960537, + -0.2127604243758856, + -0.06760752201080322 + ], + [ + -0.018413406309252072, + 0.9996813535690308, + -0.017267043023149135, + 0.035905055701732635 + ], + [ + 0.21244535684575616, + 0.02078753523528576, + 0.9769518102288492, + -0.43562638759613037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9763386699398381, + 0.014668376184999943, + -0.21574904620965688, + -0.07636823505163193 + ], + [ + -0.019033631395393002, + 0.9996537566184998, + -0.018169138606945825, + 0.037148475646972656 + ], + [ + 0.21540783639470365, + 0.02184571884572506, + 0.9762798029816682, + -0.43649938702583313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9759705849668859, + 0.014587261714041233, + -0.2174135326834048, + -0.08365492522716522 + ], + [ + -0.019093742270482744, + 0.9996439218521118, + -0.018641262651920416, + 0.037891093641519547 + ], + [ + 0.2170641892830156, + 0.0223445612937212, + 0.9759015604587219, + -0.43987220525741577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.975628411708158, + 0.01437032409012318, + -0.21895824637181888, + -0.09180845320224762 + ], + [ + -0.01880524402972638, + 0.9996578097343447, + -0.01818394247348199, + 0.038193680346012115 + ], + [ + 0.21862201470648268, + 0.021858332678675655, + 0.975564780283948, + -0.4455874562263489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9748014740413715, + 0.01467802468687296, + -0.2225906434438153, + -0.10341215878725052 + ], + [ + -0.018850543599640134, + 0.9996839761734009, + -0.016632111096645696, + 0.03757959231734276 + ], + [ + 0.22227617687541112, + 0.020408960059285164, + 0.9747701159159983, + -0.45009490847587585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9735088472591732, + 0.014531120657920837, + -0.22818715264904854, + -0.11371933668851852 + ], + [ + -0.018409328805714224, + 0.9997198581695557, + -0.01487636033629365, + 0.03938012942671776 + ], + [ + 0.2279070635537831, + 0.018683042377233505, + 0.9735036085356366, + -0.44988366961479187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9720075000614932, + 0.01356851402670145, + -0.23455758806082616, + -0.12366952747106552 + ], + [ + -0.01712046890848037, + 0.9997674226760864, + -0.013113475830463541, + 0.03963158279657364 + ], + [ + 0.23432510835159714, + 0.016762133687734604, + 0.9720137749755083, + -0.45416373014450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9702074892478235, + 0.012981503270566467, + -0.24192760487336537, + -0.13302728533744812 + ], + [ + -0.01613787838014713, + 0.9998084902763369, + -0.011069728526586105, + 0.04085415601730347 + ], + [ + 0.24173756232667992, + 0.014644131995737556, + 0.9702311521616926, + -0.45451804995536804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9685024357202934, + 0.012464248575270176, + -0.24869199459772273, + -0.14291401207447052 + ], + [ + -0.01520745311279439, + 0.9998428225517273, + -0.009112340846579449, + 0.03981643170118332 + ], + [ + 0.2485393444748436, + 0.01260729692876339, + 0.9685397797997888, + -0.4553047716617584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9669453017674687, + 0.012702611275017262, + -0.2546672731191853, + -0.1513349413871765 + ], + [ + -0.015339703837411369, + 0.9998472929000854, + -0.008371641450169595, + 0.04225367680191994 + ], + [ + 0.2545220548564088, + 0.012001439929008484, + 0.9669924876785394, + -0.4563048779964447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9654962382350896, + 0.013468259945511818, + -0.26006848088513634, + -0.16013376414775848 + ], + [ + -0.015918412690268766, + 0.9998465180397034, + -0.007317205797443198, + 0.0433650016784668 + ], + [ + 0.2599300020071534, + 0.011204611510038376, + 0.9655624401780228, + -0.45696964859962463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.963943336825218, + 0.01486576441675425, + -0.2656919183099589, + -0.16922399401664734 + ], + [ + -0.01713921926509753, + 0.9998336434364321, + -0.006240106367108337, + 0.04337577521800995 + ], + [ + 0.2655549408484379, + 0.010568861849606039, + 0.9640377668093031, + -0.46032842993736267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9622498674715243, + 0.016633555293083194, + -0.2716587518981561, + -0.17682865262031555 + ], + [ + -0.01882852503225629, + 0.9998077154159548, + -0.00547521582298386, + 0.045548077672719955 + ], + [ + 0.27151543465294214, + 0.010383459739387037, + 0.9623780410209148, + -0.460514634847641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9609478850292358, + 0.018875855952501297, + -0.2760849020474282, + -0.18329720199108124 + ], + [ + -0.0210741590454744, + 0.9997653961181641, + -0.004997516075944611, + 0.044899195432662964 + ], + [ + 0.27592580453826476, + 0.010620608925819397, + 0.9611202778065231, + -0.46115022897720337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9603267445954371, + 0.021828241646289825, + -0.2780216812920509, + -0.1902998834848404 + ], + [ + -0.024201672134813272, + 0.9996940493583679, + -0.005107341122674401, + 0.04333442077040672 + ], + [ + 0.2778251546784603, + 0.011633305810391903, + 0.9605612415696007, + -0.461349755525589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9597766702131844, + 0.02499442547559738, + -0.27964986896683325, + -0.19722294807434082 + ], + [ + -0.027742954884416107, + 0.9995978474617004, + -0.005874019984409305, + 0.041909120976924896 + ], + [ + 0.2793905823260492, + 0.013396061025559902, + 0.9600840696032845, + -0.46285948157310486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9588700778444281, + 0.02811047062277794, + -0.2824498581662645, + -0.20415720343589783 + ], + [ + -0.031490909085514315, + 0.9994763731956482, + -0.007434729202932476, + 0.04282135143876076 + ], + [ + 0.2820929814592552, + 0.0160235408693552, + 0.9592532414030851, + -0.4636363387107849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9577984127317221, + 0.031205121427774436, + -0.2857418205096556, + -0.21012459695339203 + ], + [ + -0.035145121758089495, + 0.99934458732605, + -0.008669617156010391, + 0.04456806927919388 + ], + [ + 0.28528400886803085, + 0.018346175551414493, + 0.9582674133018969, + -0.4653576612472534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9568561747993134, + 0.034200895577669144, + -0.2885420445626361, + -0.21588250994682312 + ], + [ + -0.03855596561711915, + 0.9992120265960693, + -0.00942174476362806, + 0.04589073359966278 + ], + [ + 0.2879924533286013, + 0.02014027163386345, + 0.9574208371857791, + -0.4678800106048584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9560780083387863, + 0.03684809803962708, + -0.29078694544791744, + -0.22217720746994019 + ], + [ + -0.04138734323060008, + 0.9990982413291933, + -0.009473118144404009, + 0.046709489077329636 + ], + [ + 0.290175650552885, + 0.02109193801879883, + 0.956740910722786, + -0.4704659581184387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9554708120566094, + 0.03818864747881889, + -0.29260407139136235, + -0.22663123905658722 + ], + [ + -0.04286582608331218, + 0.9990348219871521, + -0.009587207048861363, + 0.04787158966064453 + ], + [ + 0.2919555317374493, + 0.02170301042497158, + 0.9561856123891761, + -0.47116297483444214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9550965125600263, + 0.03858156129717827, + -0.29377229426126183, + -0.2311430275440216 + ], + [ + -0.043279352591977245, + 0.9990177750587463, + -0.00950495544868557, + 0.04826655611395836 + ], + [ + 0.2931170220649784, + 0.021792422980070114, + 0.9558281706116715, + -0.4732678234577179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9547426371362546, + 0.03870341554284096, + -0.29490434937600213, + -0.23636016249656677 + ], + [ + -0.04338809120447537, + 0.9990144968032837, + -0.00935621193798082, + 0.04813302680850029 + ], + [ + 0.2942516017658553, + 0.021728109568357468, + 0.9554809801813078, + -0.47565487027168274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9542753932646487, + 0.03873235732316971, + -0.29640904817165764, + -0.24119022488594055 + ], + [ + -0.04340752438751263, + 0.9990150332450867, + -0.009205259726341931, + 0.049328479915857315 + ], + [ + 0.29576055634630233, + 0.021650735288858414, + 0.9550167077781414, + -0.47624337673187256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9537856741694242, + 0.038875132799148567, + -0.2979625276816365, + -0.2452266961336136 + ], + [ + -0.04351897573169391, + 0.9990124106407168, + -0.008964327144725984, + 0.049434952437877655 + ], + [ + 0.2973197726145366, + 0.021517070010304454, + 0.954535467373808, + -0.4777657389640808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.953252752477017, + 0.03909551724791527, + -0.29963431248742073, + -0.24922889471054077 + ], + [ + -0.04373870624810892, + 0.9990042448043823, + -0.008802243577528752, + 0.0498105064034462 + ], + [ + 0.2989918198684907, + 0.021496379747986794, + 0.9540135409936865, + -0.4792100787162781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9526442523036099, + 0.039473306387662895, + -0.3015141033895106, + -0.2534724771976471 + ], + [ + -0.044116910602337224, + 0.9989893436431887, + -0.008604282449678707, + 0.05067192390561104 + ], + [ + 0.3008697222196319, + 0.021498691290616993, + 0.9534228835084377, + -0.47964608669281006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9519475653694208, + 0.04003062844276429, + -0.30363356288372884, + -0.2563331127166748 + ], + [ + -0.0447408854137427, + 0.9989618659019472, + -0.00856922898731716, + 0.050631582736968994 + ], + [ + 0.30297532522201986, + 0.021742291748523716, + 0.95275036295232, + -0.480868935585022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9513005540109924, + 0.04097186401486397, + -0.30552996223637335, + -0.25976473093032837 + ], + [ + -0.045742880244429074, + 0.9989173412322998, + -0.008469609164674758, + 0.05058834329247475 + ], + [ + 0.30485216654254943, + 0.0220329649746418, + 0.9521447706390409, + -0.4816961884498596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9507038493509599, + 0.042035192251205444, + -0.30723801783575144, + -0.26259613037109375 + ], + [ + -0.04688189436411122, + 0.9988650679588318, + -0.00840818495911216, + 0.05113516375422478 + ], + [ + 0.30653589677736837, + 0.022397594526410103, + 0.9515955716512403, + -0.4835284650325775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9501379605363253, + 0.04299844801425934, + -0.30885112690867317, + -0.2650251090526581 + ], + [ + -0.04788140836927541, + 0.9988189935684204, + -0.008244336486087502, + 0.05186692252755165 + ], + [ + 0.3081318816602705, + 0.022621482610702515, + 0.9510746474794589, + -0.4846811890602112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9496753747311795, + 0.04373715072870255, + -0.31016728827167755, + -0.2671993672847748 + ], + [ + -0.048660762421498964, + 0.9987820982933047, + -0.008150589920746326, + 0.05257103219628334 + ], + [ + 0.30943306054402125, + 0.022833390161395076, + 0.9506470407117331, + -0.48673731088638306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9492799600269913, + 0.04400644078850747, + -0.31133740591248205, + -0.26967760920524597 + ], + [ + -0.04890524009479686, + 0.9987718462944033, + -0.007941129959513583, + 0.052994512021541595 + ], + [ + 0.3106055855545261, + 0.022764386609196666, + 0.950266244174888, + -0.48832228779792786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9488552341731654, + 0.0439484566450119, + -0.31263771987505434, + -0.2716595232486725 + ], + [ + -0.04874241971845832, + 0.9987829923629761, + -0.007531169132942174, + 0.05333859845995903 + ], + [ + 0.3119262410350188, + 0.022384705021977425, + 0.9498425966384473, + -0.48825502395629883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.948435397186681, + 0.04384423419833183, + -0.3139234872676884, + -0.2739209830760956 + ], + [ + -0.048528699626958875, + 0.9987964034080505, + -0.007119171477307709, + 0.05364786460995674 + ], + [ + 0.31323351368942565, + 0.021986372768878937, + 0.9494216258189572, + -0.4883687496185303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9480628457508004, + 0.04364800825715065, + -0.31507418169779605, + -0.27569857239723206 + ], + [ + -0.04825997370966715, + 0.9988113641738892, + -0.006847161888887637, + 0.05367265269160271 + ], + [ + 0.3144007982261273, + 0.021697012707591057, + 0.9490423372026545, + -0.4875113070011139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9476785105666203, + 0.043601080775260925, + -0.31623462492146215, + -0.2766067683696747 + ], + [ + -0.04817725966583607, + 0.9988165497779846, + -0.0066630082021051276, + 0.05376672372221947 + ], + [ + 0.3155698748662463, + 0.021549709141254425, + 0.9486576386581461, + -0.4864894151687622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9472638618333585, + 0.04363809525966644, + -0.31746948966414035, + -0.2775184214115143 + ], + [ + -0.04822335450484196, + 0.9988148212432861, + -0.006595497647085444, + 0.054087456315755844 + ], + [ + 0.3168054033044163, + 0.021557118743658066, + 0.948245544534115, + -0.4857155978679657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9468262056498066, + 0.043695751577615745, + -0.31876450703422826, + -0.278167188167572 + ], + [ + -0.04829459205494033, + 0.9988117814064028, + -0.006533841009888473, + 0.0543731264770031 + ], + [ + 0.318100242541933, + 0.021581012755632404, + 0.9478114151060918, + -0.485164999961853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9463188454340236, + 0.04384409636259079, + -0.32024730131747375, + -0.2783753573894501 + ], + [ + -0.04844871423378695, + 0.998805046081543, + -0.006420757834424359, + 0.054608069360256195 + ], + [ + 0.3195830882604621, + 0.021591654047369957, + 0.9473121930813916, + -0.4846855401992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9457145194978122, + 0.04409711807966233, + -0.32199306570967184, + -0.27833396196365356 + ], + [ + -0.04870426653440796, + 0.9987936019897463, + -0.0062622857289140865, + 0.05423279479146004 + ], + [ + 0.32132847814244814, + 0.021604770794510845, + 0.946721322866041, + -0.4850594401359558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.945024943741997, + 0.04440955445170403, + -0.32396850898292684, + -0.2775413393974304 + ], + [ + -0.049086298428189436, + 0.9987748265266421, + -0.006274163674634792, + 0.05406500771641731 + ], + [ + 0.32329295078381864, + 0.02183165401220322, + 0.9460470400651846, + -0.48404255509376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9442993652647915, + 0.04475260153412819, + -0.32603047372498545, + -0.27684536576271057 + ], + [ + -0.049461245560562236, + 0.998757004737854, + -0.006162754689466436, + 0.05337778851389885 + ], + [ + 0.3253494321313681, + 0.02194535732269287, + 0.9453391910776962, + -0.48217469453811646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9435473848575436, + 0.04491657763719559, + -0.32817796631199864, + -0.2757512629032135 + ], + [ + -0.04970934043274489, + 0.9987443089485168, + -0.006225097656567106, + 0.052914902567863464 + ], + [ + 0.32748626584304913, + 0.022187184542417526, + 0.9445954053526591, + -0.4786404073238373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9428365185544508, + 0.04518603533506394, + -0.3301780257333338, + -0.2751719057559967 + ], + [ + -0.05005317610322113, + 0.9987270236015322, + -0.0062495098592442525, + 0.05166756734251976 + ], + [ + 0.32947532013825503, + 0.022418724372982982, + 0.9438980158675431, + -0.4757296144962311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.942091186555788, + 0.045499775558710105, + -0.3322558655655601, + -0.27353593707084656 + ], + [ + -0.050573114600190976, + 0.9986983537673952, + -0.006633246912368655, + 0.05062983185052872 + ], + [ + 0.3315215658019744, + 0.02305233664810658, + 0.9431659584648069, + -0.4712977111339569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.941398037925766, + 0.045661892741918564, + -0.33419264495379164, + -0.272658109664917 + ], + [ + -0.050930020767794085, + 0.9986776113510132, + -0.007013658356176021, + 0.04931055009365082 + ], + [ + 0.3334304610943119, + 0.023623080924153328, + 0.9424786937528444, + -0.46779030561447144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9406860756774511, + 0.04541286453604698, + -0.336225231983539, + -0.2699958384037018 + ], + [ + -0.05092541428593525, + 0.9986736178398132, + -0.007590750769448837, + 0.04902705177664757 + ], + [ + 0.33543454560974195, + 0.024262920022010803, + 0.9417509951356093, + -0.463014155626297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9399362602728615, + 0.04493951052427292, + -0.3383788503507841, + -0.268053263425827 + ], + [ + -0.05065867701264098, + 0.9986833333969116, + -0.008084394177824047, + 0.04807243496179581 + ], + [ + 0.33756999297554163, + 0.024740640074014664, + 0.9409752280449982, + -0.4606587588787079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9392967707906167, + 0.04410458728671074, + -0.34025930260919873, + -0.2660701274871826 + ], + [ + -0.049985114412820955, + 0.998713493347168, + -0.008531748502428963, + 0.04722952842712402 + ], + [ + 0.3394452638904068, + 0.025021744892001152, + 0.9402929122058065, + -0.4561113715171814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9387088285640663, + 0.0428832545876503, + -0.34203330037381136, + -0.26403167843818665 + ], + [ + -0.04891641005140331, + 0.9987620711326599, + -0.009028651725457252, + 0.0458533950150013 + ], + [ + 0.3412227048984505, + 0.025206316262483597, + 0.9396444866621222, + -0.45239436626434326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9381294130316506, + 0.041433725506067276, + -0.3437970827084326, + -0.26184025406837463 + ], + [ + -0.047635040679673245, + 0.998818576335907, + -0.00960757689265633, + 0.04463096335530281 + ], + [ + 0.342992841951364, + 0.025389935821294785, + 0.9389948054568305, + -0.44674938917160034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9375912414320612, + 0.03978120908141136, + -0.3454564079986988, + -0.2596777677536011 + ], + [ + -0.04617495670341386, + 0.9988803267478943, + -0.010295282014456595, + 0.04385481774806976 + ], + [ + 0.3446600575675455, + 0.02560419961810112, + 0.9383783137914185, + -0.4409801959991455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9369387718148989, + 0.03813589736819268, + -0.34740662575588394, + -0.2556341886520386 + ], + [ + -0.044864624249838975, + 0.9989286661148074, + -0.011342227600264914, + 0.043838728219270706 + ], + [ + 0.34660189195307545, + 0.02621323987841607, + 0.9376459844375221, + -0.4337753355503082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9362728167490165, + 0.03636380285024643, + -0.34938646154999253, + -0.2526799738407135 + ], + [ + -0.04333696416419514, + 0.998986542224884, + -0.01215924448924127, + 0.04217906668782234 + ], + [ + 0.34859020377906996, + 0.026525717228651047, + 0.9368998171097552, + -0.428229957818985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9355110909509515, + 0.03511965274810792, + -0.3515474850748909, + -0.2485225349664688 + ], + [ + -0.042441560739860815, + 0.9990125298500063, + -0.01314070205970618, + 0.04123791679739952 + ], + [ + 0.3507388388826217, + 0.027213495224714286, + 0.9360778254140157, + -0.42163997888565063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9347463376220653, + 0.034435950219631195, + -0.3536431903330201, + -0.2436669021844864 + ], + [ + -0.04205172413887389, + 0.9990191459655762, + -0.01387138826121486, + 0.03888192027807236 + ], + [ + 0.3528186421273859, + 0.027837533503770828, + 0.9352775276955219, + -0.41410624980926514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9340056687929353, + 0.03439798206090928, + -0.3555982959042402, + -0.24035777151584625 + ], + [ + -0.04252386392046465, + 0.9989819526672366, + -0.015057917193776213, + 0.03785265237092972 + ], + [ + 0.35471832427026734, + 0.029185593128204353, + 0.934517610791527, + -0.4074516296386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9331976939486897, + 0.034289732575416565, + -0.3577236901723189, + -0.23492391407489777 + ], + [ + -0.042905340763003307, + 0.9989482164382935, + -0.016173098925013785, + 0.03571636974811554 + ], + [ + 0.3567928820995127, + 0.030440954491496086, + 0.9336874076094954, + -0.4024081528186798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9325658257889464, + 0.034313566982746124, + -0.35936555046431184, + -0.23119188845157623 + ], + [ + -0.043497844546368306, + 0.9989002346992493, + -0.017499648225990722, + 0.035066936165094376 + ], + [ + 0.35836984706565334, + 0.03195120021700859, + 0.9330327878206095, + -0.3952896296977997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9320842736621084, + 0.034171976149082184, + -0.36062601979236725, + -0.22740264236927032 + ], + [ + -0.04380543391078883, + 0.9988674521446228, + -0.01857070238853312, + 0.033664945513010025 + ], + [ + 0.3595830053150989, + 0.03310684114694595, + 0.9325256179873617, + -0.3895376920700073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.931659089979408, + 0.033905226737260825, + -0.3617482639259978, + -0.22392538189888 + ], + [ + -0.043831861955368756, + 0.9988530874252322, + -0.019267576302360815, + 0.03131105378270149 + ], + [ + 0.36068009179052013, + 0.03380691260099412, + 0.9320766668048016, + -0.3837619125843048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9310651905899714, + 0.03308145329356194, + -0.36335004512058927, + -0.21794867515563965 + ], + [ + -0.04331377957371775, + 0.9988603591918948, + -0.020047332583434243, + 0.031093869358301163 + ], + [ + 0.3622727541231162, + 0.034403435885906226, + 0.9314369770784265, + -0.37904345989227295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9305198659174699, + 0.03159080445766449, + -0.3648765026444674, + -0.21375887095928192 + ], + [ + -0.04206188858535588, + 0.9988988041877747, + -0.020783484279224967, + 0.029675308614969254 + ], + [ + 0.3638181354340792, + 0.03468683734536171, + 0.9308239280901662, + -0.37711024284362793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9299976977054875, + 0.030139142647385597, + -0.3663276112387571, + -0.20993094146251678 + ], + [ + -0.040851909224782115, + 0.9989333152770996, + -0.021524957667415294, + 0.02886783704161644 + ], + [ + 0.36528810636768794, + 0.03498334437608719, + 0.9302369301923046, + -0.3719664514064789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.929469750654864, + 0.028534937649965286, + -0.36779302933325597, + -0.20638348162174225 + ], + [ + -0.03949270460891682, + 0.9989709854125977, + -0.022299777197643065, + 0.028377365320920944 + ], + [ + 0.36677823901476597, + 0.03525210916996002, + 0.9296402810492186, + -0.36747050285339355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9289551793731713, + 0.026889385655522353, + -0.36921435356040494, + -0.20232802629470825 + ], + [ + -0.038109600324028166, + 0.9990058541297915, + -0.023128725341687716, + 0.028081156313419342 + ], + [ + 0.3682253826113286, + 0.03555615991353989, + 0.929056445794518, + -0.3645439147949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.928417234023651, + 0.025777848437428474, + -0.37064387729095716, + -0.19783684611320496 + ], + [ + -0.037242998452396314, + 0.9990226030349731, + -0.023808273829458243, + 0.028165938332676888 + ], + [ + 0.3696678997333489, + 0.03590790182352066, + 0.9284698795767746, + -0.3598085045814514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9279344340291682, + 0.024792797863483436, + -0.37191802341241614, + -0.19387637078762054 + ], + [ + -0.03643181168192519, + 0.9990406632423403, + -0.024299225272194292, + 0.02850889042019844 + ], + [ + 0.3709587941896043, + 0.03609773516654969, + 0.927947500893056, + -0.35347726941108704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9274572348512514, + 0.023929771035909653, + -0.3731627838036776, + -0.18961834907531738 + ], + [ + -0.035714114569582824, + 0.9990568161010742, + -0.024697302449396868, + 0.028798876330256462 + ], + [ + 0.3722198154997756, + 0.03623287007212639, + 0.9274371271026383, + -0.3517315983772278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9270243966240695, + 0.023084893822669983, + -0.3742897540796087, + -0.18591542541980743 + ], + [ + -0.034977351793730814, + 0.9990751147270203, + -0.025010878887947303, + 0.029001733288168907 + ], + [ + 0.37336619926576337, + 0.03627735748887062, + 0.9269744359005518, + -0.3489609956741333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9267141687357042, + 0.021962465718388557, + -0.37512458866882953, + -0.1821080893278122 + ], + [ + -0.03392393352258644, + 0.999103844165802, + -0.025311611145466366, + 0.029276419430971146 + ], + [ + 0.3742325100709336, + 0.036182332783937454, + 0.92662877942134, + -0.34759044647216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9264935153127701, + 0.02068920247256756, + -0.3757416363517836, + -0.17744870483875275 + ], + [ + -0.03263581772551176, + 0.9991430640220642, + -0.02545738613884331, + 0.028089432045817375 + ], + [ + 0.37489294423283137, + 0.03584873676300049, + 0.926374756312238, + -0.35169360041618347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9264312410288085, + 0.019488882273435593, + -0.37595927165988613, + -0.17291907966136932 + ], + [ + -0.031377597679170616, + 0.9991816282272339, + -0.025524710871060865, + 0.027294402942061424 + ], + [ + 0.37515415052895007, + 0.035443589091300964, + 0.9262845880959093, + -0.35202205181121826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9264441537637957, + 0.01844828389585018, + -0.3759798915311917, + -0.1688561588525772 + ], + [ + -0.030366769485367342, + 0.9992058277130127, + -0.02579787889873389, + 0.02763919159770012 + ], + [ + 0.3752053758239512, + 0.035317592322826385, + 0.9262686407811906, + -0.35139721632003784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9264222183772391, + 0.01704757660627365, + -0.37610012916172386, + -0.16270945966243744 + ], + [ + -0.02899861863540622, + 0.9992376565933228, + -0.026137679018093555, + 0.026322996243834496 + ], + [ + 0.3753678114852938, + 0.03512091189622879, + 0.9262103126673045, + -0.35247936844825745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9266506088416269, + 0.01583364233374596, + -0.3755901757653546, + -0.1576741486787796 + ], + [ + -0.027818645925627394, + 0.9992614388465884, + -0.026508194466538296, + 0.024890607222914696 + ], + [ + 0.37489305387796934, + 0.03501224517822266, + 0.9264066592677436, + -0.3497781753540039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9271099732433239, + 0.015234362334012985, + -0.3744797054603274, + -0.1533147245645523 + ], + [ + -0.02726987580826952, + 0.9992671608924866, + -0.026861205747490888, + 0.025775671005249023 + ], + [ + 0.37379605564589774, + 0.035115309059619904, + 0.9268459312013403, + -0.34462770819664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9279205956225304, + 0.014218894764780998, + -0.37250668085487476, + -0.1475430130958557 + ], + [ + -0.026288575472678335, + 0.9992803931236267, + -0.027341921395123633, + 0.026304440572857857 + ], + [ + 0.37184986848736934, + 0.03516380116343498, + 0.9276266663503845, + -0.34321555495262146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9290849900394146, + 0.013676207512617111, + -0.36961339022935813, + -0.14237886667251587 + ], + [ + -0.025848388291042173, + 0.9992736577987671, + -0.027999733175352794, + 0.02687118761241436 + ], + [ + 0.36896199863378815, + 0.03556803986430168, + 0.9287636501698682, + -0.3425540030002594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9305885784438735, + 0.013207419775426391, + -0.36582839495898367, + -0.1369466632604599 + ], + [ + -0.02539516205342234, + 0.9992704987525942, + -0.02852338524716636, + 0.024705827236175537 + ], + [ + 0.36518481755646315, + 0.03583380952477456, + 0.9302451364732623, + -0.339579701423645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9323990460436077, + 0.01088465750217438, + -0.3612665672608291, + -0.1286967694759369 + ], + [ + -0.023267939670507748, + 0.9992806911468508, + -0.029945140975092932, + 0.026115264743566513 + ], + [ + 0.360680749810021, + 0.036326751112937934, + 0.9319816310077682, + -0.33699843287467957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9344450570888357, + 0.009643291123211386, + -0.35597677139326284, + -0.11904542148113251 + ], + [ + -0.02217139458876761, + 0.9992694258689883, + -0.031130412550429375, + 0.02615273743867874 + ], + [ + 0.3554164915171342, + 0.03698216006159783, + 0.933976135082116, + -0.3363586664199829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9376851531281263, + 0.007642705924808979, + -0.3474019379929378, + -0.10803742706775665 + ], + [ + -0.020326926860519456, + 0.9992524981498718, + -0.032881983917207924, + 0.028936613351106644 + ], + [ + 0.3468909584893045, + 0.03789456561207771, + 0.9371396404204465, + -0.3355166018009186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9412757058932709, + 0.00023322785273194313, + -0.33763878374627004, + -0.0861615538597107 + ], + [ + -0.013742639235089798, + 0.9991975426673889, + -0.03762178032382126, + 0.03751816228032112 + ], + [ + 0.3373590638553838, + 0.040052518248558044, + 0.9405236083883809, + -0.3483217656612396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9456468633813044, + -0.0009358717361465096, + -0.32519404584256895, + -0.07684162259101868 + ], + [ + -0.012294613608048798, + 0.9991780519485474, + -0.03862759982554907, + 0.03844575211405754 + ], + [ + 0.3249628963999529, + 0.04052620008587837, + 0.9448580630293989, + -0.34924784302711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9501479265901271, + -0.0023501035757362843, + -0.3117905441990551, + -0.06666931509971619 + ], + [ + -0.010602422050846107, + 0.9991497993469238, + -0.039840768197057994, + 0.03974829614162445 + ], + [ + 0.31161910049839747, + 0.04116035997867584, + 0.9493152168156268, + -0.347322016954422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.955059977827226, + -0.0011388587299734354, + -0.29641036754599476, + -0.057921990752220154 + ], + [ + -0.011100372662078204, + 0.999153733253479, + -0.039605283535654394, + 0.03944762051105499 + ], + [ + 0.296204636335905, + 0.04111568629741669, + 0.9542391063088088, + -0.342207670211792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9607502327801795, + -0.0014293247368186712, + -0.27741120976744216, + -0.050993118435144424 + ], + [ + -0.010024643348897792, + 0.9991547465324402, + -0.03986607277598029, + 0.039018645882606506 + ], + [ + 0.27723369819390403, + 0.04108228534460068, + 0.959923792620403, + -0.3407588303089142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9655734260300317, + -0.0011387580307200553, + -0.2601281622390327, + -0.04691596329212189 + ], + [ + -0.009498434647489427, + 0.9991692304611208, + -0.039631419288972805, + 0.03811430186033249 + ], + [ + 0.25995717730654055, + 0.04073785245418549, + 0.9647604093547876, + -0.33959677815437317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9699186718260727, + -0.002083801431581378, + -0.24342025566736117, + -0.04205549880862236 + ], + [ + -0.007877937094768193, + 0.9991708993911743, + -0.039943397002335825, + 0.03995170071721077 + ], + [ + 0.24330166181863713, + 0.040659498423337936, + 0.9690980629525855, + -0.3395739495754242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9739673611647649, + -0.0032029843423515567, + -0.2266655773293421, + -0.035017237067222595 + ], + [ + -0.006079868686251682, + 0.9991713762283327, + -0.04024397436421647, + 0.03946944698691368 + ], + [ + 0.2266066686066529, + 0.04057441279292107, + 0.9731408821725241, + -0.3376815915107727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9776966221823049, + -0.003211495466530323, + -0.2099975470801805, + -0.0317697674036026 + ], + [ + -0.0053850339143791046, + 0.9991710186004639, + -0.040351722371905485, + 0.0386049784719944 + ], + [ + 0.2099530531119674, + 0.04058258980512619, + 0.9768688391809456, + -0.3348877429962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9812321840308, + -0.0033369141165167093, + -0.1928010424696475, + -0.02474883571267128 + ], + [ + -0.0045863880844225395, + 0.9991635680198669, + -0.0406348130060545, + 0.037314821034669876 + ], + [ + 0.19277537633077846, + 0.04075644910335541, + 0.9803961566140872, + -0.3346269428730011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9845735444461141, + -0.003953262232244015, + -0.17492648818180495, + -0.01841174066066742 + ], + [ + -0.003380872950068594, + 0.9991282224655151, + -0.04160909968273232, + 0.03535076603293419 + ], + [ + 0.17493848521053845, + 0.04155862331390381, + 0.9837018646659896, + -0.3440837264060974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9874646293120336, + -0.003526691813021899, + -0.1578010615947898, + -0.01290806196630001 + ], + [ + -0.0032252104109487126, + 0.9990907907485964, + -0.04251090733665246, + 0.03355605527758598 + ], + [ + 0.15780751121944717, + 0.04248695820569993, + 0.9865554351966339, + -0.3417308032512665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9901149118268874, + -0.004429983906447888, + -0.1401887562582262, + -0.009112403728067875 + ], + [ + -0.0017401376723447635, + 0.9990361928939822, + -0.043859799621231925, + 0.03259069472551346 + ], + [ + 0.14024793406341124, + 0.0436701849102974, + 0.9891528882914064, + -0.3464345932006836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9922576193424743, + -0.005503532476723194, + -0.12407490562853886, + -0.003647542092949152 + ], + [ + -0.00014029057467089217, + 0.9989674091339111, + -0.04543266050985216, + 0.03299405053257942 + ], + [ + 0.1241968289734233, + 0.04509831219911575, + 0.991232232635294, + -0.35270631313323975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9943330666217448, + -0.005816503427922726, + -0.10615024999067513, + -0.0017049936577677727 + ], + [ + 0.0008641569216342461, + 0.9989113807678223, + -0.046640590132037744, + 0.03292685002088547 + ], + [ + 0.10630599856694457, + 0.046284548938274384, + 0.9932556738294726, + -0.35033372044563293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9961884349767068, + -0.005574265494942665, + -0.0870488685372925, + -0.0015850518830120564 + ], + [ + 0.0014129678081664036, + 0.998856246471405, + -0.047792784067405815, + 0.032345350831747055 + ], + [ + 0.08721571650081206, + 0.04748762026429176, + 0.9950569576528114, + -0.3539731204509735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9975365832196885, + -0.0049001588486135015, + -0.06997676025848176, + -0.0008903299458324909 + ], + [ + 0.0014850148801447735, + 0.998808801174164, + -0.04877283169761195, + 0.031334709376096725 + ], + [ + 0.07013238862311683, + 0.04854876920580865, + 0.9963555620371783, + -0.36422213912010193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9985200158321528, + -0.0045036314986646175, + -0.05419843138232367, + 0.00020213413517922163 + ], + [ + 0.0018011867950692008, + 0.9987571835517883, + -0.04980795422917881, + 0.031465303152799606 + ], + [ + 0.054355391996967824, + 0.04963662102818489, + 0.9972871833973597, + -0.36581113934516907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9992729236776308, + -0.004962030332535505, + -0.03780272926589935, + 0.003530247136950493 + ], + [ + 0.0030409838495128196, + 0.998708963394165, + -0.050706703422113954, + 0.03250814601778984 + ], + [ + 0.038005518163834504, + 0.05055487900972366, + 0.9979978817749322, + -0.3695887625217438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998094611958179, + -0.004650600720196963, + -0.018958462336172932, + 0.005187520291656256 + ], + [ + 0.0036814253612035986, + 0.9987000823020937, + -0.05083904191077054, + 0.030652331188321114 + ], + [ + 0.019170252656775452, + 0.05075956135988237, + 0.9985269233054346, + -0.3814508318901062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999865125387635, + -0.004830503836274148, + -0.0019242980789338524, + 0.0010984411928802729 + ], + [ + 0.004725952554357047, + 0.9986842870712282, + -0.05106210459250702, + 0.029737059026956558 + ], + [ + 0.0021684058944009908, + 0.051052320748567595, + 0.9986936033986706, + -0.3891943395137787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999133834533083, + -0.004801042843610048, + 0.012254349320042723, + -0.0002250908873975277 + ], + [ + 0.005420845118510941, + 0.9986810684204102, + -0.051056491370045955, + 0.0288271252065897 + ], + [ + -0.011993061492628163, + 0.05111849680542946, + 0.9986206030491831, + -0.39776483178138733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9996253334600355, + -0.004831164609640837, + 0.02694116600599084, + -0.0008367695845663548 + ], + [ + 0.006194454351947447, + 0.9986921548843384, + -0.05075096376123052, + 0.028302958235144615 + ], + [ + -0.026660741095244005, + 0.05089883506298065, + 0.9983478722515029, + -0.40666890144348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9991526554324714, + -0.004641810432076455, + 0.040895481896962814, + -0.002742355689406395 + ], + [ + 0.00669817494655739, + 0.9987121224403384, + -0.05029087229061414, + 0.027883725240826607 + ], + [ + -0.04060934633195327, + 0.050522185862064375, + 0.9978969979295039, + -0.4109296202659607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9985316369749956, + -0.004819572903215886, + 0.053956549957607056, + -0.0028260054532438517 + ], + [ + 0.007519314123835815, + 0.9987236857414248, + -0.049944816676286315, + 0.028578754514455795 + ], + [ + -0.05364697893635816, + 0.050277199596166625, + 0.997293456551984, + -0.41653627157211304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9975855939534807, + -0.004413415212184191, + 0.0693074462401853, + -0.008617649786174297 + ], + [ + 0.007847530465632269, + 0.9987504482269287, + -0.04935517951766162, + 0.028891997411847115 + ], + [ + -0.06900300822368921, + 0.04977991059422493, + 0.996373681919131, + -0.420489102602005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9965099978339111, + -0.004668522626161576, + 0.08334329937036845, + -0.011050369590520859 + ], + [ + 0.00877702813706992, + 0.9987602829933169, + -0.048998095634511823, + 0.030111392959952354 + ], + [ + -0.08301122148371717, + 0.04955859854817392, + 0.9953155817753299, + -0.4192740023136139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9953612314129905, + -0.004746832884848118, + 0.0960910449562659, + -0.014494051225483418 + ], + [ + 0.009451255154884148, + 0.9987754225730896, + -0.04856221060162274, + 0.03162620589137077 + ], + [ + -0.09574287534789219, + 0.04924512282013893, + 0.9941872330608497, + -0.4206504821777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9941405346127005, + -0.00490470789372921, + 0.10798420686444203, + -0.01890210062265396 + ], + [ + 0.010172013895658551, + 0.9987819790840149, + -0.048281858165140495, + 0.031176641583442688 + ], + [ + -0.10761589666859793, + 0.049097366631031036, + 0.9929795229774159, + -0.4264731705188751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9928608206257079, + -0.005317904055118561, + 0.11915999817908707, + -0.021543707698583603 + ], + [ + 0.011111328563947287, + 0.9987851977348328, + -0.0480073992231877, + 0.032300613820552826 + ], + [ + -0.11875996154961975, + 0.048988692462444305, + 0.9917137784670604, + -0.4333263635635376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9911812000293094, + -0.0063127633184194565, + 0.132363147568099, + -0.02477363869547844 + ], + [ + 0.012668960840788114, + 0.9988034963607788, + -0.04723387641284935, + 0.03282429650425911 + ], + [ + -0.13190661259064532, + 0.048494234681129456, + 0.9900752365920438, + -0.4396630525588989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.989497429404314, + -0.006910729221999647, + 0.144384995804012, + -0.03171796724200249 + ], + [ + 0.013756779016528727, + 0.9988248944282534, + -0.046470830143399706, + 0.034895095974206924 + ], + [ + -0.1438941755367194, + 0.04796903952956201, + 0.9884297888396728, + -0.4458646774291992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9879481284642838, + -0.007983121089637281, + 0.1545794174798907, + -0.037532806396484375 + ], + [ + 0.015087816692613757, + 0.9988800883293154, + -0.04484298815933282, + 0.0374571792781353 + ], + [ + -0.15404829930782263, + 0.04663480818271638, + 0.9869621678837112, + -0.45160895586013794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9864149212278313, + -0.009548302739858627, + 0.16399527194638447, + -0.042384788393974304 + ], + [ + 0.0167669404694123, + 0.9989476799964905, + -0.042689680490772576, + 0.0384058952331543 + ], + [ + -0.16341505312972565, + 0.04485943913459778, + 0.9855369833592824, + -0.459406316280365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 661.2056477864583, + "fy": 661.0100504557291, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/move_left/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cc585f0cd9214adb6860ca5f02ae3cfad66822ba --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/move_left/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999088048934937, + -0.010517086833715439, + 0.008471570909023285, + 0.009980998995837632 + ], + [ + 0.010531477630138397, + 0.999943196773529, + -0.0016560074873268604, + -0.0072801511304882854 + ], + [ + -0.008453672751784325, + 0.0017450745217502117, + 0.9999627470970154, + -0.00012789427809957807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997057318687439, + -0.02059836871922016, + 0.012811261229217052, + 0.022706688471607395 + ], + [ + 0.02061917446553707, + 0.9997862577438354, + -0.0014940064866095781, + -0.01384300885109843 + ], + [ + -0.012777748517692089, + 0.00175772444345057, + 0.9999167919158936, + 0.003357070326231993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995032548904419, + -0.02704532817006111, + 0.01617821492254734, + 0.03708006604151292 + ], + [ + 0.02704688534140587, + 0.9996341466903687, + 0.00012256260379217565, + -0.019922269466561036 + ], + [ + -0.016175610944628716, + 0.0003150685515720397, + 0.9998691082000732, + 0.006980028716599816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992049336433411, + -0.032515592873096466, + 0.02307005226612091, + 0.047833817384459756 + ], + [ + 0.032420530915260315, + 0.9994642734527588, + 0.004482893273234367, + -0.028664931850312474 + ], + [ + -0.023203454911708832, + -0.0037313858047127724, + 0.9997237920761108, + 0.012841628831843813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987839460372925, + -0.04022211953997612, + 0.02851017378270626, + 0.05598933197610028 + ], + [ + 0.03996379300951958, + 0.9991552829742432, + 0.009573672898113728, + -0.03944695903756819 + ], + [ + -0.028871161863207817, + -0.008422656916081905, + 0.9995476603507996, + 0.019643560253813135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9983645081520081, + -0.04740295559167862, + 0.03195704519748688, + 0.06465478035119863 + ], + [ + 0.04689342528581619, + 0.9987634420394897, + 0.0165100060403347, + -0.05569970305045168 + ], + [ + -0.032700151205062866, + -0.014984428882598877, + 0.9993528723716736, + 0.02644087286939571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978902339935303, + -0.052909329533576965, + 0.037626296281814575, + 0.07073443591386289 + ], + [ + 0.0521463006734848, + 0.9984190464019775, + 0.020979920402169228, + -0.06860524888013626 + ], + [ + -0.03867684304714203, + -0.018973583355545998, + 0.9990715980529785, + 0.033385504537320636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9973997473716736, + -0.056759998202323914, + 0.044407524168491364, + 0.07349198340744405 + ], + [ + 0.05548768490552902, + 0.9980270862579346, + 0.02937820367515087, + -0.08621179274954162 + ], + [ + -0.04598741978406906, + -0.02683774195611477, + 0.9985814690589905, + 0.04084255174323395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9969708323478699, + -0.06009834259748459, + 0.049370016902685165, + 0.07612860843643442 + ], + [ + 0.058355167508125305, + 0.9976457357406616, + 0.03602305054664612, + -0.10176265376222718 + ], + [ + -0.05141871050000191, + -0.03303293138742447, + 0.998130738735199, + 0.04815466531350479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9966369867324829, + -0.06270180642604828, + 0.05275636911392212, + 0.07922387842114989 + ], + [ + 0.06018466874957085, + 0.9970315098762512, + 0.04802091792225838, + -0.12792046709389954 + ], + [ + -0.05561076104640961, + -0.04468429461121559, + 0.9974521398544312, + 0.054302125830541954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962052702903748, + -0.06547611951828003, + 0.05734040588140488, + 0.08112706828575868 + ], + [ + 0.06273193657398224, + 0.9968552589416504, + 0.048418331891298294, + -0.14776683759230833 + ], + [ + -0.060330331325531006, + -0.044637519866228104, + 0.9971798658370972, + 0.05915378922453293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.995691180229187, + -0.06692962348461151, + 0.06418335437774658, + 0.0806916611073734 + ], + [ + 0.06386303901672363, + 0.9967698454856873, + 0.04869750142097473, + -0.16435790887245766 + ], + [ + -0.06723533570766449, + -0.044388726353645325, + 0.996749222278595, + 0.06383442382712465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9952253103256226, + -0.0678735002875328, + 0.07014150172472, + 0.08283498680049722 + ], + [ + 0.0643550381064415, + 0.9966095685958862, + 0.05126236751675606, + -0.18363043306903407 + ], + [ + -0.07338304072618484, + -0.046503644436597824, + 0.9962190389633179, + 0.06862560016187755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9945582151412964, + -0.06883535534143448, + 0.07820295542478561, + 0.08351394458042158 + ], + [ + 0.06502748280763626, + 0.9966179728507996, + 0.050240255892276764, + -0.20143347527388927 + ], + [ + -0.08139678090810776, + -0.044881515204906464, + 0.995670735836029, + 0.07172433268148583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9935657978057861, + -0.0728846862912178, + 0.08668813854455948, + 0.07382639726767173 + ], + [ + 0.06940480321645737, + 0.9966826438903809, + 0.04250475764274597, + -0.20465299125005315 + ], + [ + -0.08949851244688034, + -0.03621470183134079, + 0.9953283667564392, + 0.07236363746590548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9935100674629211, + -0.07891405373811722, + 0.08191641420125961, + 0.07196377481405551 + ], + [ + 0.07500428706407547, + 0.9959408640861511, + 0.04976072162389755, + -0.21307737156227752 + ], + [ + -0.0855107232928276, + -0.043293699622154236, + 0.9953961968421936, + 0.07225953490584047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9938573837280273, + -0.082437664270401, + 0.07383491098880768, + 0.07228585900543452 + ], + [ + 0.07853460311889648, + 0.9954317212104797, + 0.054295171052217484, + -0.21508898920529373 + ], + [ + -0.07797357439994812, + -0.04816306009888649, + 0.9957913756370544, + 0.07118224556837882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9936672449111938, + -0.08652183413505554, + 0.07168938219547272, + 0.06894880517587795 + ], + [ + 0.08214916288852692, + 0.9946987628936768, + 0.06185344606637955, + -0.2260129394022735 + ], + [ + -0.07666102051734924, + -0.055572524666786194, + 0.9955072999000549, + 0.07049247817351267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938861131668091, + -0.08843912184238434, + 0.06609747558832169, + 0.06959203258677796 + ], + [ + 0.08441296219825745, + 0.9945366978645325, + 0.061410557478666306, + -0.22814320540511523 + ], + [ + -0.0711674615740776, + -0.05545562133193016, + 0.9959216117858887, + 0.06644382194935025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9938932061195374, + -0.09020979702472687, + 0.0635492131114006, + 0.07049797829631325 + ], + [ + 0.08593185245990753, + 0.9940381050109863, + 0.06711164116859436, + -0.23560615467441665 + ], + [ + -0.06922446936368942, + -0.06124090030789375, + 0.9957196116447449, + 0.062540178506316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9939779043197632, + -0.09098882973194122, + 0.06106537580490112, + 0.07457239297511695 + ], + [ + 0.0867745578289032, + 0.9938741326332092, + 0.06844223290681839, + -0.24426163151547625 + ], + [ + -0.06691877543926239, + -0.06273113936185837, + 0.9957844614982605, + 0.05771559763934229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9937766194343567, + -0.09030290693044662, + 0.06521844863891602, + 0.07063309447123454 + ], + [ + 0.08625409752130508, + 0.9943146109580994, + 0.062439244240522385, + -0.24277421132876323 + ], + [ + -0.07048609852790833, + -0.0564252994954586, + 0.9959155917167664, + 0.05136620929607978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936536550521851, + -0.09022460132837296, + 0.06717128306627274, + 0.06952094642015604 + ], + [ + 0.08608482033014297, + 0.9943462014198303, + 0.06216944381594658, + -0.24439136176988796 + ], + [ + -0.07240072637796402, + -0.05599246546626091, + 0.9958027005195618, + 0.043840112740343266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9934160113334656, + -0.09103531390428543, + 0.06955008208751678, + 0.06750419662965762 + ], + [ + 0.08661163598299026, + 0.9941729307174683, + 0.06417622417211533, + -0.24603414404225515 + ], + [ + -0.07498711347579956, + -0.05772984027862549, + 0.9955120086669922, + 0.037293906238946045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9933201670646667, + -0.09181094914674759, + 0.06989818066358566, + 0.06624211527250863 + ], + [ + 0.08710307627916336, + 0.9938987493515015, + 0.06766341626644135, + -0.24861951331262822 + ], + [ + -0.07568395882844925, + -0.061123088002204895, + 0.9952567219734192, + 0.031939405335725604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9931902289390564, + -0.09156160056591034, + 0.07203930616378784, + 0.06484763107516549 + ], + [ + 0.08652207255363464, + 0.9937722682952881, + 0.0702185332775116, + -0.2513075451959263 + ], + [ + -0.07801999151706696, + -0.06350736320018768, + 0.9949269890785217, + 0.026456998119300062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931355714797974, + -0.09126362204551697, + 0.0731622576713562, + 0.06293018777053673 + ], + [ + 0.08604823052883148, + 0.9937202334403992, + 0.0715252235531807, + -0.2522405816645889 + ], + [ + -0.07923045754432678, + -0.06473875790834427, + 0.9947519302368164, + 0.020840373340915968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9930651783943176, + -0.09198590368032455, + 0.07321281731128693, + 0.06276392605338063 + ], + [ + 0.08655475825071335, + 0.9934807419776917, + 0.07419058680534363, + -0.2551506855896303 + ], + [ + -0.07956001162528992, + -0.06733916699886322, + 0.9945529699325562, + 0.015591674279812333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.993091344833374, + -0.09210819005966187, + 0.07270240038633347, + 0.06330759580527152 + ], + [ + 0.08664202690124512, + 0.9934073686599731, + 0.07506635785102844, + -0.25531785754890707 + ], + [ + -0.07913733273744583, + -0.0682486742734909, + 0.9945247173309326, + 0.010891681508376048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9932083487510681, + -0.09154397249221802, + 0.07181129604578018, + 0.06138525981377888 + ], + [ + 0.08582258224487305, + 0.9931671619415283, + 0.07907898724079132, + -0.25966286284106593 + ], + [ + -0.07855982333421707, + -0.07237887382507324, + 0.9942784309387207, + 0.006998445079954979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993314802646637, + -0.09124509245157242, + 0.07071133702993393, + 0.06184165379800997 + ], + [ + 0.08572300523519516, + 0.9932965040206909, + 0.07754762470722198, + -0.25968579164855965 + ], + [ + -0.07731316238641739, + -0.07096761465072632, + 0.9944778680801392, + 0.0020432466146099817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9931787848472595, + -0.09172139316797256, + 0.0719936266541481, + 0.05908617158452947 + ], + [ + 0.08604688197374344, + 0.9932079315185547, + 0.07831920683383942, + -0.2609206701908912 + ], + [ + -0.07868819683790207, + -0.07159015536308289, + 0.9943253993988037, + -0.002583883799794879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932475686073303, + -0.09110751003026962, + 0.07182364910840988, + 0.05805678917811467 + ], + [ + 0.08550821989774704, + 0.9933171272277832, + 0.07752058655023575, + -0.26061087371065067 + ], + [ + -0.07840637117624283, + -0.07085562497377396, + 0.9944002628326416, + -0.007049785353816472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9931153059005737, + -0.09116356819868088, + 0.0735609233379364, + 0.05274209109219638 + ], + [ + 0.08546610921621323, + 0.9933453798294067, + 0.0772041603922844, + -0.2601729531283979 + ], + [ + -0.0801096111536026, + -0.07038567215204239, + 0.9942979216575623, + -0.012030216500527793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9933566451072693, + -0.0918126255273819, + 0.06937600672245026, + 0.05466419057204173 + ], + [ + 0.08634956181049347, + 0.9932050704956055, + 0.07802194356918335, + -0.2608935726168272 + ], + [ + -0.07606799900531769, + -0.07151302695274353, + 0.9945348501205444, + -0.01816822494660224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9933200478553772, + -0.09244798123836517, + 0.06905557960271835, + 0.052726627177708624 + ], + [ + 0.08706051111221313, + 0.9931970834732056, + 0.07733061909675598, + -0.2590546715509641 + ], + [ + -0.07573486119508743, + -0.07080203294754028, + 0.9946111440658569, + -0.02322943980929318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9934190511703491, + -0.0919349193572998, + 0.06831187754869461, + 0.0501688846132972 + ], + [ + 0.08666618168354034, + 0.9932990670204163, + 0.076458640396595, + -0.258810396513322 + ], + [ + -0.0748833492398262, + -0.07003513723611832, + 0.9947298765182495, + -0.027311970455037964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9932799935340881, + -0.0926131159067154, + 0.06940926611423492, + 0.04588869067130388 + ], + [ + 0.08736948668956757, + 0.9933397173881531, + 0.07511843740940094, + -0.25572820149518394 + ], + [ + -0.07590393722057343, + -0.06854939460754395, + 0.9947560429573059, + -0.03167254570480827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9933192133903503, + -0.094053253531456, + 0.06686508655548096, + 0.045768919722600415 + ], + [ + 0.08891753852367401, + 0.9931328296661377, + 0.07603194564580917, + -0.25417689369483426 + ], + [ + -0.07355695962905884, + -0.06957852095365524, + 0.9948608875274658, + -0.03579821037975225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933273196220398, + -0.09483803808689117, + 0.06562494486570358, + 0.04333145530907424 + ], + [ + 0.08965705335140228, + 0.9929261207580566, + 0.07784184068441391, + -0.25472518238987957 + ], + [ + -0.07254309207201004, + -0.07143869251012802, + 0.9948034882545471, + -0.03782013743803218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9931789636611938, + -0.09631174057722092, + 0.06572400033473969, + 0.03908760192302557 + ], + [ + 0.09113829582929611, + 0.9928075671195984, + 0.07763355225324631, + -0.2530628922883864 + ], + [ + -0.07272830605506897, + -0.07111404091119766, + 0.9948132634162903, + -0.040891225557852455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9929990172386169, + -0.0982501283288002, + 0.0655733197927475, + 0.03540594238084513 + ], + [ + 0.09290900081396103, + 0.9924505949020386, + 0.08006086200475693, + -0.25497523528504207 + ], + [ + -0.0729442685842514, + -0.07340800017118454, + 0.9946308135986328, + -0.04260070531830921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9930063486099243, + -0.098293736577034, + 0.06539686024188995, + 0.032431059377593593 + ], + [ + 0.09313163161277771, + 0.9926104545593262, + 0.07778797298669815, + -0.2517578572034836 + ], + [ + -0.07255968451499939, + -0.0711534395813942, + 0.9948227405548096, + -0.0436017258861265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9929366707801819, + -0.09926310926675797, + 0.06498915702104568, + 0.02840291502384039 + ], + [ + 0.09403286129236221, + 0.9924200773239136, + 0.07912136614322662, + -0.25255859402509834 + ], + [ + -0.07235037535429001, + -0.0724513977766037, + 0.9947443008422852, + -0.0441474440579231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930378794670105, + -0.10032722353935242, + 0.06172679364681244, + 0.02792086196946097 + ], + [ + 0.09532074630260468, + 0.9922818541526794, + 0.07931365817785263, + -0.25235265509023536 + ], + [ + -0.06920769810676575, + -0.07287762314081192, + 0.9949367642402649, + -0.04517294435234336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9928606152534485, + -0.10104633867740631, + 0.06338288635015488, + 0.022107253953085083 + ], + [ + 0.09572552144527435, + 0.9920234084129333, + 0.08201326429843903, + -0.25641747044099794 + ], + [ + -0.07116445153951645, + -0.07536038756370544, + 0.9946137070655823, + -0.04487122188393886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.992802619934082, + -0.10082564502954483, + 0.06463126093149185, + 0.01594426316710619 + ], + [ + 0.09553553909063339, + 0.9921823740005493, + 0.08029396086931229, + -0.2559194928543134 + ], + [ + -0.07222168892621994, + -0.07354146987199783, + 0.9946736693382263, + -0.04475620921987754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9927588105201721, + -0.10098015516996384, + 0.06506075710058212, + 0.009951856972037494 + ], + [ + 0.09560777992010117, + 0.992119312286377, + 0.08098413050174713, + -0.2591203538271097 + ], + [ + -0.0727258250117302, + -0.07417739927768707, + 0.9945896863937378, + -0.04336589465399722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.993023693561554, + -0.0996357798576355, + 0.06306058168411255, + 0.006107904115965318 + ], + [ + 0.09455606341362, + 0.9923818707466125, + 0.07897693663835526, + -0.26115868881449 + ], + [ + -0.070449098944664, + -0.07246320694684982, + 0.9948799014091492, + -0.04388770634581993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9930843114852905, + -0.0985749289393425, + 0.06376954168081284, + -0.0020664835518056715 + ], + [ + 0.09353896230459213, + 0.9925829768180847, + 0.07765021175146103, + -0.2656797734903289 + ], + [ + -0.07095091789960861, + -0.07114826887845993, + 0.9949391484260559, + -0.04290750982252868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9933575391769409, + -0.09562221169471741, + 0.06400934606790543, + -0.008988647269723302 + ], + [ + 0.09078137576580048, + 0.9930660724639893, + 0.07468918710947037, + -0.26906233301737925 + ], + [ + -0.07070746272802353, + -0.06838221102952957, + 0.9951503872871399, + -0.042757000774145126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9942342638969421, + -0.0910915955901146, + 0.05657355487346649, + -0.0023326288570057335 + ], + [ + 0.0871247723698616, + 0.9938035607337952, + 0.0690200924873352, + -0.2681078393350948 + ], + [ + -0.06251014769077301, + -0.06369318068027496, + 0.996009886264801, + -0.04061354459686713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.994172990322113, + -0.08988089114427567, + 0.05951011925935745, + -0.017176724801009353 + ], + [ + 0.08577948063611984, + 0.993975818157196, + 0.06822008639574051, + -0.27459003255813275 + ], + [ + -0.06528329849243164, + -0.06271781772375107, + 0.9958938360214233, + -0.04196070151312368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994394838809967, + -0.0869470164179802, + 0.06015925481915474, + -0.029392543412953408 + ], + [ + 0.08294249325990677, + 0.9943572282791138, + 0.06613784283399582, + -0.2791999471250114 + ], + [ + -0.06557027995586395, + -0.06077737361192703, + 0.995995283126831, + -0.03752941340729073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9956403970718384, + -0.07990458607673645, + 0.048119258135557175, + -0.020920292116128482 + ], + [ + 0.07725806534290314, + 0.9955174326896667, + 0.0545552559196949, + -0.274719649209426 + ], + [ + -0.052262771874666214, + -0.05059981718659401, + 0.9973506331443787, + -0.03575812695691219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9952138066291809, + -0.07711166888475418, + 0.06002757325768471, + -0.03608542400562055 + ], + [ + 0.07413700968027115, + 0.9959787130355835, + 0.05030020698904991, + -0.2791440335603861 + ], + [ + -0.06366492062807083, + -0.04560919478535652, + 0.9969285726547241, + -0.020443816905046677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960020184516907, + -0.0725744217634201, + 0.05208548903465271, + -0.03498056407080039 + ], + [ + 0.07084862887859344, + 0.996898889541626, + 0.034250956028699875, + -0.27394974030606395 + ], + [ + -0.054409705102443695, + -0.030423838645219803, + 0.998055100440979, + -0.027187030637389295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967190623283386, + -0.0661657303571701, + 0.04661828652024269, + -0.037239861110928696 + ], + [ + 0.06514854729175568, + 0.9976102113723755, + 0.02301258221268654, + -0.2752519503131613 + ], + [ + -0.048029523342847824, + -0.019899964332580566, + 0.9986476898193359, + -0.029364158025571515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9972090125083923, + -0.0626349151134491, + 0.040632735937833786, + -0.039935432979185795 + ], + [ + 0.062185581773519516, + 0.9979896545410156, + 0.012230827473104, + -0.2773342599532196 + ], + [ + -0.04131712391972542, + -0.009669921360909939, + 0.9990993142127991, + -0.03275094585349927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9974756240844727, + -0.06131782382726669, + 0.03581284359097481, + -0.042827385005954705 + ], + [ + 0.06127128750085831, + 0.9981182813644409, + 0.002396518364548683, + -0.27883000713545125 + ], + [ + -0.03589240089058876, + -0.0001961699454113841, + 0.9993556141853333, + -0.03541454654577729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9979202151298523, + -0.057653289288282394, + 0.02883320115506649, + -0.04460419233126397 + ], + [ + 0.05796974524855614, + 0.9982656240463257, + -0.010261901654303074, + -0.27749209354755344 + ], + [ + -0.02819156087934971, + 0.011912011541426182, + 0.9995315670967102, + -0.03582215933194319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9982208013534546, + -0.05615319684147835, + 0.020050326362252235, + -0.04341704134252964 + ], + [ + 0.056555841118097305, + 0.9981968402862549, + -0.020113246515393257, + -0.27720442009451507 + ], + [ + -0.018884750083088875, + 0.021211424842476845, + 0.9995966553688049, + -0.03836054200423764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982188940048218, + -0.057913634926080704, + 0.014320855028927326, + -0.047088738788453335 + ], + [ + 0.05833667144179344, + 0.9978113174438477, + -0.031135564669966698, + -0.2761067294600335 + ], + [ + -0.012486337684094906, + 0.031915538012981415, + 0.9994125962257385, + -0.03703633828114692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984040260314941, + -0.05583849549293518, + 0.008451756089925766, + -0.049691044898065445 + ], + [ + 0.0561390295624733, + 0.9975841045379639, + -0.04091902822256088, + -0.2752009048328533 + ], + [ + -0.006146480794996023, + 0.041328199207782745, + 0.9991267323493958, + -0.034038241311803566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982689023017883, + -0.05872952193021774, + -0.0031677251681685448, + -0.04936570843512362 + ], + [ + 0.058495014905929565, + 0.9970081448554993, + -0.05052763968706131, + -0.27387910133058374 + ], + [ + 0.006125711835920811, + 0.05025487393140793, + 0.9987176656723022, + -0.02740204727954485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9983245730400085, + -0.05586419999599457, + -0.015073796734213829, + -0.05059256338729309 + ], + [ + 0.05491478741168976, + 0.9968409538269043, + -0.057380326092243195, + -0.27492435780855323 + ], + [ + 0.01823168434202671, + 0.056456416845321655, + 0.9982385635375977, + -0.011397715027515704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983434677124023, + -0.05327899754047394, + -0.021717403084039688, + -0.05303769161195293 + ], + [ + 0.05175776034593582, + 0.9965132474899292, + -0.0654408186674118, + -0.2751319696175885 + ], + [ + 0.025128301233053207, + 0.06420837342739105, + 0.9976201057434082, + -0.0036494109649341426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998312771320343, + -0.05003432556986809, + -0.029464486986398697, + -0.05490079007495742 + ], + [ + 0.047733988612890244, + 0.996101438999176, + -0.0741845965385437, + -0.2752740720247889 + ], + [ + 0.033061396330595016, + 0.07265298068523407, + 0.9968091249465942, + 0.0067235021415602905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9978516101837158, + -0.05177897959947586, + -0.04013872891664505, + -0.051306173460675286 + ], + [ + 0.048104673624038696, + 0.9949890971183777, + -0.08765082061290741, + -0.27193657616218486 + ], + [ + 0.04447606950998306, + 0.08553165197372437, + 0.9953422546386719, + 0.00703939366043656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9976634383201599, + -0.05447913333773613, + -0.04122717306017876, + -0.05334892967989396 + ], + [ + 0.05042886361479759, + 0.9943310022354126, + -0.09360958635807037, + -0.2732190981872015 + ], + [ + 0.046093229204416275, + 0.09131182730197906, + 0.9947550296783447, + 0.008760859746928815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.997802734375, + -0.05327094718813896, + -0.0393938273191452, + -0.05666779738336385 + ], + [ + 0.0492764450609684, + 0.9941393733024597, + -0.09622251242399216, + -0.2760824569846158 + ], + [ + 0.044288814067840576, + 0.09406990557909012, + 0.9945799708366394, + 0.009121364853963568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9971879124641418, + -0.05737144500017166, + -0.04821613058447838, + -0.054151766328466744 + ], + [ + 0.051859594881534576, + 0.9927229881286621, + -0.10868126153945923, + -0.27306918489349474 + ], + [ + 0.05410046502947807, + 0.105875164270401, + 0.9929066300392151, + 0.010021345908721009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9964131116867065, + -0.06205618008971214, + -0.05753251165151596, + -0.052260551523332574 + ], + [ + 0.05554807558655739, + 0.9925392866134644, + -0.10853637754917145, + -0.2772467234569204 + ], + [ + 0.06383863091468811, + 0.10495124757289886, + 0.9924262762069702, + 0.006373372844622268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969106912612915, + -0.05898837745189667, + -0.051860202103853226, + -0.057235620971899354 + ], + [ + 0.05287754535675049, + 0.9922778606414795, + -0.1121990904211998, + -0.2778278494214678 + ], + [ + 0.05807817354798317, + 0.10911022871732712, + 0.9923315644264221, + 0.010959846093938068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968762397766113, + -0.05837381258606911, + -0.05319979414343834, + -0.05900778869570761 + ], + [ + 0.052081335335969925, + 0.9922481775283813, + -0.11283236742019653, + -0.28011257127187883 + ], + [ + 0.059373851865530014, + 0.10970918834209442, + 0.9921888113021851, + 0.011113662064283878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.996816098690033, + -0.0572001077234745, + -0.05555063113570213, + -0.06043191675904331 + ], + [ + 0.05072706565260887, + 0.9924509525299072, + -0.11165939271450043, + -0.2832682790977138 + ], + [ + 0.06151820346713066, + 0.10848595201969147, + 0.9921926856040955, + 0.011843269933145363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9967480897903442, + -0.056477002799510956, + -0.057476505637168884, + -0.06127245136035177 + ], + [ + 0.04975458234548569, + 0.9924244284629822, + -0.11233069747686386, + -0.284972442399997 + ], + [ + 0.06338518857955933, + 0.10910569876432419, + 0.9920071959495544, + 0.012306063392987617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9968408942222595, + -0.054945655167102814, + -0.05735136941075325, + -0.06367995234375651 + ], + [ + 0.04825437813997269, + 0.9925177097320557, + -0.11216117441654205, + -0.28707460097291254 + ], + [ + 0.06308501958847046, + 0.10903939604759216, + 0.9920336008071899, + 0.012477386031638492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9967246651649475, + -0.05419622361660004, + -0.06002264469861984, + -0.06450724599140507 + ], + [ + 0.04721365123987198, + 0.9925639629364014, + -0.11219444125890732, + -0.28831902881498106 + ], + [ + 0.06565683335065842, + 0.10899307578802109, + 0.9918718338012695, + 0.011798252617302057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9967198967933655, + -0.052545998245477676, + -0.061549413949251175, + -0.0653499016551288 + ], + [ + 0.04552546516060829, + 0.9928460121154785, + -0.11038196831941605, + -0.29100442182767644 + ], + [ + 0.06690922379493713, + 0.10721784085035324, + 0.9919816255569458, + 0.011791615010975124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9967301487922668, + -0.0510522685945034, + -0.06263116747140884, + -0.06616506410202572 + ], + [ + 0.04388286545872688, + 0.9928578734397888, + -0.11093951016664505, + -0.2919014793306172 + ], + [ + 0.06784755736589432, + 0.10782832652330399, + 0.9918516874313354, + 0.011230172980185988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9968020915985107, + -0.04928652197122574, + -0.06290057301521301, + -0.06756196767091752 + ], + [ + 0.04217267781496048, + 0.993058443069458, + -0.10980167239904404, + -0.29356016105079985 + ], + [ + 0.0678756833076477, + 0.10679785162210464, + 0.9919612407684326, + 0.010986897241246033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968639612197876, + -0.04813767969608307, + -0.06280920654535294, + -0.0684278825701742 + ], + [ + 0.040906794369220734, + 0.9928970336914062, + -0.11172332614660263, + -0.29350157494207363 + ], + [ + 0.06774117797613144, + 0.1088036373257637, + 0.9917524456977844, + 0.010415086550051932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996920108795166, + -0.046025775372982025, + -0.06349722295999527, + -0.06948864040179895 + ], + [ + 0.03868378698825836, + 0.992913544178009, + -0.11236671358346939, + -0.2939102020297017 + ], + [ + 0.06821901351213455, + 0.10956432670354843, + 0.9916359186172485, + 0.009990163914650886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9969062805175781, + -0.04468473792076111, + -0.06466183811426163, + -0.06986417969154729 + ], + [ + 0.03717528283596039, + 0.9928986430168152, + -0.11300549656152725, + -0.2934484149922024 + ], + [ + 0.06925227493047714, + 0.11025205999612808, + 0.9914880990982056, + 0.008847909640859474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968678951263428, + -0.043737899512052536, + -0.06588923931121826, + -0.07005035173330273 + ], + [ + 0.03616994991898537, + 0.9930534362792969, + -0.11196687072515488, + -0.29399351687593894 + ], + [ + 0.0703287273645401, + 0.10923296958208084, + 0.9915251135826111, + 0.008216409679580402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.99685138463974, + -0.043049197643995285, + -0.06658865511417389, + -0.0702009624755987 + ], + [ + 0.03531789407134056, + 0.9929428100585938, + -0.11321299523115158, + -0.29278647239235317 + ], + [ + 0.07099245488643646, + 0.11050476878881454, + 0.9913368821144104, + 0.007512621330162445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9968419075012207, + -0.042871296405792236, + -0.06684467196464539, + -0.07079838914080308 + ], + [ + 0.03515176475048065, + 0.9930112957954407, + -0.11266307532787323, + -0.2913768429022569 + ], + [ + 0.07120752334594727, + 0.10995757579803467, + 0.9913823008537292, + 0.007298918240345441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9967617988586426, + -0.04308192804455757, + -0.067896269261837, + -0.07059022425250575 + ], + [ + 0.03533140942454338, + 0.9931380152702332, + -0.11148332059383392, + -0.29077945489931356 + ], + [ + 0.07223328202962875, + 0.10872344672679901, + 0.9914441704750061, + 0.006671150805024834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9967842102050781, + -0.04296252131462097, + -0.06764192879199982, + -0.07072011810577625 + ], + [ + 0.035225652158260345, + 0.9931192398071289, + -0.11168421059846878, + -0.2893450601430206 + ], + [ + 0.0719747394323349, + 0.10894232243299484, + 0.9914389848709106, + 0.006180906459897548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968405961990356, + -0.042976971715688705, + -0.06679695844650269, + -0.07108452560549433 + ], + [ + 0.03528064116835594, + 0.9930356740951538, + -0.1124076396226883, + -0.28778383491391485 + ], + [ + 0.07116270065307617, + 0.10969585180282593, + 0.991414487361908, + 0.0056869136508215555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9968509078025818, + -0.04291440546512604, + -0.06668339669704437, + -0.07077934557402675 + ], + [ + 0.03518497943878174, + 0.9929664134979248, + -0.11304737627506256, + -0.2864205973548489 + ], + [ + 0.0710657387971878, + 0.11034512519836426, + 0.9913493990898132, + 0.005325014076449655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9969474077224731, + -0.0427565798163414, + -0.0653281956911087, + -0.07139952772824497 + ], + [ + 0.03510236740112305, + 0.9928461909294128, + -0.11412364989519119, + -0.2848529453044171 + ], + [ + 0.06974038481712341, + 0.11148210614919662, + 0.9913163185119629, + 0.004875290940899949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9969190955162048, + -0.04263107851147652, + -0.06584007292985916, + -0.07125070051036098 + ], + [ + 0.03492018207907677, + 0.9928528666496277, + -0.11412189155817032, + -0.2841380717089543 + ], + [ + 0.07023464888334274, + 0.11147113889455795, + 0.9912826418876648, + 0.003973383430417601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9969649314880371, + -0.042544979602098465, + -0.06519826501607895, + -0.07163717949411254 + ], + [ + 0.03486871346831322, + 0.9927929639816284, + -0.11465748399496078, + -0.2837232430107318 + ], + [ + 0.0696064755320549, + 0.11203611642122269, + 0.9912632703781128, + 0.002894063636504269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9969428181648254, + -0.04213448613882065, + -0.06580029428005219, + -0.07125434861029986 + ], + [ + 0.03429344296455383, + 0.9926509857177734, + -0.11605175584554672, + -0.2822410937789437 + ], + [ + 0.07020650804042816, + 0.11344044655561447, + 0.9910612106323242, + 0.0015325373976484875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9970219135284424, + -0.04099532961845398, + -0.06531979143619537, + -0.07181655379220635 + ], + [ + 0.03317640721797943, + 0.9926261901855469, + -0.11658699810504913, + -0.2809520608374289 + ], + [ + 0.06961765885353088, + 0.11407271027565002, + 0.9910301566123962, + -9.800490721330758e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9970006942749023, + -0.04069157689809799, + -0.06583213806152344, + -0.07198426574338358 + ], + [ + 0.032706283032894135, + 0.9924597144126892, + -0.11812714487314224, + -0.2790920503802233 + ], + [ + 0.07014252245426178, + 0.1156197115778923, + 0.9908138513565063, + -0.0012196757003560769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.997042715549469, + -0.04034483805298805, + -0.0654071494936943, + -0.07260888238938956 + ], + [ + 0.03224236145615578, + 0.9921876192092896, + -0.12051645666360855, + -0.27648302846803113 + ], + [ + 0.06975837796926498, + 0.11805117875337601, + 0.9905542135238647, + -0.0019291645023398673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9970512986183167, + -0.039729680866003036, + -0.06565253436565399, + -0.07279356328568623 + ], + [ + 0.03149758651852608, + 0.9920324087142944, + -0.12198194861412048, + -0.27429616289747344 + ], + [ + 0.06997574865818024, + 0.11955437064170837, + 0.9903585910797119, + -0.0026318059788065984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9970404505729675, + -0.03980843350291252, + -0.06576981395483017, + -0.07301627034191172 + ], + [ + 0.031453173607587814, + 0.9918438792228699, + -0.12351664155721664, + -0.2720518639636832 + ], + [ + 0.07015039771795273, + 0.12108241766691208, + 0.9901605844497681, + -0.003751910608945661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9969704151153564, + -0.04002111777663231, + -0.06669574975967407, + -0.07312172260949507 + ], + [ + 0.03193916752934456, + 0.992485761642456, + -0.11811824142932892, + -0.2730448836577939 + ], + [ + 0.07092180848121643, + 0.11563017964363098, + 0.990757167339325, + -0.004453633212357421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969696998596191, + -0.04021535813808441, + -0.06658964604139328, + -0.07369676437701093 + ], + [ + 0.032275259494781494, + 0.9926903247833252, + -0.11629349738359451, + -0.2711515339938077 + ], + [ + 0.07077968865633011, + 0.11379189044237137, + 0.9909801483154297, + -0.004538458341999644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9971702694892883, + -0.037764713168144226, + -0.06500240415334702, + -0.07494793639264324 + ], + [ + 0.029767587780952454, + 0.9923425912857056, + -0.11987525969743729, + -0.2663301381197843 + ], + [ + 0.06903170794248581, + 0.11760107427835464, + 0.990658700466156, + -0.0047184599103109745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9971474409103394, + -0.03930175304412842, + -0.06443897634744644, + -0.07560427067638538 + ], + [ + 0.032291263341903687, + 0.9937949180603027, + -0.10643758624792099, + -0.27039017658550424 + ], + [ + 0.06822230666875839, + 0.10405314713716507, + 0.992229163646698, + -0.0038666177835719254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9971386790275574, + -0.03837873786687851, + -0.06512725353240967, + -0.07530571614291154 + ], + [ + 0.03149186074733734, + 0.994114100933075, + -0.10366005450487137, + -0.26843736115452294 + ], + [ + 0.06872226297855377, + 0.10131246596574783, + 0.9924782514572144, + -0.0026966679186749085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9972189664840698, + -0.0366857647895813, + -0.06487257778644562, + -0.07530155455037443 + ], + [ + 0.029851756989955902, + 0.99419766664505, + -0.10334354639053345, + -0.26451370987546197 + ], + [ + 0.06828740239143372, + 0.10111959278583527, + 0.9925279021263123, + -0.001635122379952377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.997708797454834, + -0.03732908144593239, + -0.056424736976623535, + -0.07856379594894816 + ], + [ + 0.031855206936597824, + 0.9949696063995361, + -0.09497752785682678, + -0.26561322379987556 + ], + [ + 0.0596863254904747, + 0.09296248853206635, + 0.9938790202140808, + -0.0027946176539806952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9983997344970703, + -0.03450113534927368, + -0.044807154685258865, + -0.08356357816072715 + ], + [ + 0.030684346333146095, + 0.996056854724884, + -0.08324222266674042, + -0.2680025601629298 + ], + [ + 0.04750242456793785, + 0.08173413574695587, + 0.9955214858055115, + -0.006029165231043122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9980954527854919, + -0.032065413892269135, + -0.052699822932481766, + -0.07620048066242957 + ], + [ + 0.029750216752290726, + 0.998582124710083, + -0.04414418712258339, + -0.28803940375263876 + ], + [ + 0.05404059961438179, + 0.04249228164553642, + 0.99763423204422, + -0.02448613913013385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9981256723403931, + -0.033372923731803894, + -0.05129651352763176, + -0.07660651777975158 + ], + [ + 0.031220754608511925, + 0.9986212849617004, + -0.04219928756356239, + -0.28522440166557794 + ], + [ + 0.0526341013610363, + 0.04051867499947548, + 0.9977915287017822, + -0.021489574121949555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9981986284255981, + -0.032617829740047455, + -0.05035392567515373, + -0.07804618915072822 + ], + [ + 0.03074379824101925, + 0.9988215565681458, + -0.03755366802215576, + -0.28291469556051535 + ], + [ + 0.05151950940489769, + 0.035937950015068054, + 0.9980251789093018, + -0.01650530068868107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9981815814971924, + -0.031778447329998016, + -0.05122223123908043, + -0.07833641987616341 + ], + [ + 0.02987443283200264, + 0.9988492727279663, + -0.03751830384135246, + -0.2777814918803377 + ], + [ + 0.0523555614054203, + 0.03591984137892723, + 0.9979823231697083, + -0.01006169662635018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9982117414474487, + -0.033016450703144073, + -0.049832314252853394, + -0.0803417202927029 + ], + [ + 0.031357258558273315, + 0.9989393353462219, + -0.03371811285614967, + -0.2762502040062751 + ], + [ + 0.05089271068572998, + 0.03209521248936653, + 0.9981882572174072, + -0.0030909151011439687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9980236887931824, + -0.03482842445373535, + -0.05230408161878586, + -0.08106426615756447 + ], + [ + 0.03321826457977295, + 0.9989565014839172, + -0.03134489431977272, + -0.2741113684394143 + ], + [ + 0.05334119498729706, + 0.02954549714922905, + 0.9981391429901123, + 0.002611562525006858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979170560836792, + -0.034312717616558075, + -0.05462763085961342, + -0.08203895429761468 + ], + [ + 0.032829344272613525, + 0.9990735650062561, + -0.027824215590953827, + -0.2725311555228867 + ], + [ + 0.05553175136446953, + 0.025972869247198105, + 0.998119056224823, + 0.01020776072477961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9978563785552979, + -0.03393792733550072, + -0.055954597890377045, + -0.08173915810475593 + ], + [ + 0.032468605786561966, + 0.9991090297698975, + -0.02696262113749981, + -0.27120524932715023 + ], + [ + 0.056819796562194824, + 0.025088055059313774, + 0.998069167137146, + 0.017046205462379886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9981409907341003, + -0.032112836837768555, + -0.05180061236023903, + -0.08389513054716083 + ], + [ + 0.030684741213917732, + 0.9991331100463867, + -0.028132876381278038, + -0.26911755644722835 + ], + [ + 0.052659135311841965, + 0.026491088792681694, + 0.9982610940933228, + 0.025049571346465523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9981998801231384, + -0.0307228434830904, + -0.05150829628109932, + -0.08449511555873405 + ], + [ + 0.029400041326880455, + 0.9992231130599976, + -0.02624543383717537, + -0.26842571786259645 + ], + [ + 0.052274610847234726, + 0.024683844298124313, + 0.9983276128768921, + 0.031275895323890905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9980219602584839, + -0.026527926325798035, + -0.05699453875422478, + -0.08848562911217968 + ], + [ + 0.022272776812314987, + 0.9970065951347351, + -0.07403861731290817, + -0.24396791210124544 + ], + [ + 0.05878802016377449, + 0.07262273877859116, + 0.995625376701355, + 0.06551773095881189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9981994032859802, + -0.029704339802265167, + -0.05211108922958374, + -0.08607298676999144 + ], + [ + 0.028592098504304886, + 0.9993498921394348, + -0.021961038932204247, + -0.26952869568306664 + ], + [ + 0.05272954702377319, + 0.020431531593203545, + 0.9983997941017151, + 0.04208868455428343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9981359839439392, + -0.030931716784834862, + -0.052609335631132126, + -0.08669132808682516 + ], + [ + 0.029742250218987465, + 0.9992873072624207, + -0.023244211450219154, + -0.2696317350140193 + ], + [ + 0.053290825337171555, + 0.02163616381585598, + 0.9983446002006531, + 0.04590641291929291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.997984766960144, + -0.03265747055411339, + -0.05440486967563629, + -0.08740957684691189 + ], + [ + 0.03148407116532326, + 0.9992557168006897, + -0.02228737808763981, + -0.2698753108381183 + ], + [ + 0.055092230439186096, + 0.020529577508568764, + 0.9982702136039734, + 0.04845409570978238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9977709650993347, + -0.03383787348866463, + -0.05751657485961914, + -0.08791081990714517 + ], + [ + 0.032688241451978683, + 0.9992488622665405, + -0.02081282064318657, + -0.2711912453278795 + ], + [ + 0.058177635073661804, + 0.01888631284236908, + 0.9981275796890259, + 0.0509721852995299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9976934194564819, + -0.03401286154985428, + -0.05874449014663696, + -0.08855138089625049 + ], + [ + 0.032696790993213654, + 0.9991955161094666, + -0.023221267387270927, + -0.2718042521053678 + ], + [ + 0.059487052261829376, + 0.021246949210762978, + 0.9980029463768005, + 0.052605650824058305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.997774600982666, + -0.033431682735681534, + -0.05769072473049164, + -0.0898648323474934 + ], + [ + 0.03197738900780678, + 0.9991516470909119, + -0.02595035545527935, + -0.27278112080859973 + ], + [ + 0.05850934982299805, + 0.02404780499637127, + 0.9979971647262573, + 0.055174738523009775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9978275299072266, + -0.033235423266887665, + -0.056882504373788834, + -0.0903571518066411 + ], + [ + 0.031602270901203156, + 0.9990687966346741, + -0.029373859986662865, + -0.2732204512230583 + ], + [ + 0.05780578777194023, + 0.027512429282069206, + 0.9979486465454102, + 0.056161585671605764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9978557825088501, + -0.032415721565485, + -0.05686001852154732, + -0.09027124334988021 + ], + [ + 0.030587265267968178, + 0.998995840549469, + -0.03273814171552658, + -0.273515583418466 + ], + [ + 0.057864148169755936, + 0.030928753316402435, + 0.9978452324867249, + 0.057600499887566464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9980843663215637, + -0.03173929825425148, + -0.05310596898198128, + -0.09190701183478732 + ], + [ + 0.02990765869617462, + 0.9989418983459473, + -0.034936755895614624, + -0.2743158828232672 + ], + [ + 0.05415864661335945, + 0.03328155726194382, + 0.9979775547981262, + 0.05907950907476715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9982484579086304, + -0.03061579167842865, + -0.05062287300825119, + -0.09225026099011302 + ], + [ + 0.02872990444302559, + 0.9988808631896973, + -0.03757090121507645, + -0.2748559947040948 + ], + [ + 0.051716484129428864, + 0.0360507071018219, + 0.9980108737945557, + 0.06092836369167674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9983004331588745, + -0.029943782836198807, + -0.04999587684869766, + -0.0921622797259019 + ], + [ + 0.027950525283813477, + 0.9988045692443848, + -0.04010260850191116, + -0.27470461167655624 + ], + [ + 0.05113693326711655, + 0.03863704204559326, + 0.9979439973831177, + 0.06156529010488437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9982691407203674, + -0.030849430710077286, + -0.050070296972990036, + -0.09239378172160986 + ], + [ + 0.028850726783275604, + 0.9987766146659851, + -0.04016152769327164, + -0.27451501144812657 + ], + [ + 0.05124800279736519, + 0.038647450506687164, + 0.9979378581047058, + 0.06307036911065762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9982865452766418, + -0.03061797469854355, + -0.04986458644270897, + -0.09274034977137922 + ], + [ + 0.028691422194242477, + 0.9988309741020203, + -0.03890376165509224, + -0.2748864918712761 + ], + [ + 0.05099744722247124, + 0.03740641847252846, + 0.9979979991912842, + 0.06351027872439448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9982951879501343, + -0.030590660870075226, + -0.04970870912075043, + -0.09377153460408555 + ], + [ + 0.028596118092536926, + 0.9987762570381165, + -0.0403522327542305, + -0.2751052877911321 + ], + [ + 0.05088227987289429, + 0.0388619601726532, + 0.9979482889175415, + 0.064406463753927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9982274174690247, + -0.0303262360394001, + -0.05120914801955223, + -0.09424792442485444 + ], + [ + 0.02806825190782547, + 0.9986260533332825, + -0.04425128921866417, + -0.2747233967212113 + ], + [ + 0.05248076096177101, + 0.042735498398542404, + 0.9977070689201355, + 0.06450006585906852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9981895685195923, + -0.030788790434598923, + -0.051668763160705566, + -0.09581784469717007 + ], + [ + 0.028380580246448517, + 0.9985051155090332, + -0.046712279319763184, + -0.27489685549602644 + ], + [ + 0.05302973836660385, + 0.04516132175922394, + 0.9975712299346924, + 0.06488265067964166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9980025291442871, + -0.029474642127752304, + -0.055876608937978745, + -0.09747516845932581 + ], + [ + 0.026611793786287308, + 0.998328447341919, + -0.051304757595062256, + -0.2751863821116569 + ], + [ + 0.05729539319872856, + 0.049715302884578705, + 0.9971186518669128, + 0.06539156455937382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9979223608970642, + -0.02684088982641697, + -0.05857028439640999, + -0.09980862515594263 + ], + [ + 0.023560186848044395, + 0.9981526136398315, + -0.056002262979745865, + -0.2761373434215784 + ], + [ + 0.059965234249830246, + 0.05450598523020744, + 0.996711254119873, + 0.0642041377723217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9975409507751465, + -0.02453448437154293, + -0.0656515508890152, + -0.10138931410009419 + ], + [ + 0.020223861560225487, + 0.9976451992988586, + -0.06553660333156586, + -0.27516793717167803 + ], + [ + 0.06710486114025116, + 0.06404772400856018, + 0.9956881403923035, + 0.06518709853395716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9974836111068726, + -0.019333699718117714, + -0.06821057200431824, + -0.10448818179368453 + ], + [ + 0.01455052848905325, + 0.9974453449249268, + -0.06993629783391953, + -0.27475214610201915 + ], + [ + 0.06938844919204712, + 0.06876780837774277, + 0.9952166676521301, + 0.06510356141553891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9969993233680725, + -0.015531493350863457, + -0.0758359432220459, + -0.10659333747792077 + ], + [ + 0.009859103709459305, + 0.997164249420166, + -0.0746074914932251, + -0.274487882313299 + ], + [ + 0.07677966356277466, + 0.07363595068454742, + 0.9943252205848694, + 0.06600825977283759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.99686199426651, + -0.010184193029999733, + -0.07850120216608047, + -0.1103555461587189 + ], + [ + 0.003803637344390154, + 0.996706485748291, + -0.08100449293851852, + -0.2735298764136444 + ], + [ + 0.07906762510538101, + 0.08045170456171036, + 0.9936175346374512, + 0.06662874275987798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9965309500694275, + -0.00522161228582263, + -0.08305907994508743, + -0.11322815250605345 + ], + [ + -0.0018359672976657748, + 0.9964075088500977, + -0.08466806262731552, + -0.27174608457135035 + ], + [ + 0.0832028016448021, + 0.08452684432268143, + 0.9929413199424744, + 0.0675759680569172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/move_right/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1484966e03ee75c87e86bb2dd48b10f844e50462 --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/move_right/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999088048934937, + -0.010517086833715439, + 0.008471570909023285, + 0.011379472848835524 + ], + [ + 0.010531477630138397, + 0.999943196773529, + -0.0016560074873268604, + -0.007265421791145435 + ], + [ + -0.008453672751784325, + 0.0017450745217502117, + 0.9999627470970154, + -0.00013971759663354214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997057318687439, + -0.02059836871922016, + 0.012811261229217052, + 0.025503068141170315 + ], + [ + 0.02061917446553707, + 0.9997862577438354, + -0.0014940064866095781, + -0.013785332838607419 + ], + [ + -0.012777748517692089, + 0.00175772444345057, + 0.9999167919158936, + 0.003321328372336351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995032548904419, + -0.02704532817006111, + 0.01617821492254734, + 0.04127378599210219 + ], + [ + 0.02704688534140587, + 0.9996341466903687, + 0.00012256260379217565, + -0.019808786031562133 + ], + [ + -0.016175610944628716, + 0.0003150685515720397, + 0.9998691082000732, + 0.006912159020328647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992049336433411, + -0.032515592873096466, + 0.02307005226612091, + 0.05342377505519173 + ], + [ + 0.032420530915260315, + 0.9994642734527588, + 0.004482893273234367, + -0.02848355825078654 + ], + [ + -0.023203454911708832, + -0.0037313858047127724, + 0.9997237920761108, + 0.01271181929387621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987839460372925, + -0.04022211953997612, + 0.02851017378270626, + 0.06297383509524218 + ], + [ + 0.03996379300951958, + 0.9991552829742432, + 0.009573672898113728, + -0.03916749195358553 + ], + [ + -0.028871161863207817, + -0.008422656916081905, + 0.9995476603507996, + 0.019441664017007483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9983645081520081, + -0.04740295559167862, + 0.03195704519748688, + 0.07303266433569101 + ], + [ + 0.04689342528581619, + 0.9987634420394897, + 0.0165100060403347, + -0.05530619178931196 + ], + [ + -0.032700151205062866, + -0.014984428882598877, + 0.9993528723716736, + 0.02616646600613644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978902339935303, + -0.052909329533576965, + 0.037626296281814575, + 0.08050399065226108 + ], + [ + 0.0521463006734848, + 0.9984190464019775, + 0.020979920402169228, + -0.06809472565675949 + ], + [ + -0.03867684304714203, + -0.018973583355545998, + 0.9990715980529785, + 0.0330068501298661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9973997473716736, + -0.056759998202323914, + 0.044407524168491364, + 0.0846517008605537 + ], + [ + 0.05548768490552902, + 0.9980270862579346, + 0.02937820367515087, + -0.08559095151982941 + ], + [ + -0.04598741978406906, + -0.02683774195611477, + 0.9985814690589905, + 0.04032800718620941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9969708323478699, + -0.06009834259748459, + 0.049370016902685165, + 0.0886778916408132 + ], + [ + 0.058355167508125305, + 0.9976457357406616, + 0.03602305054664612, + -0.10102811319219482 + ], + [ + -0.05141871050000191, + -0.03303293138742447, + 0.998130738735199, + 0.04750743678972855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9966369867324829, + -0.06270180642604828, + 0.05275636911392212, + 0.09316285725656923 + ], + [ + 0.06018466874957085, + 0.9970315098762512, + 0.04802091792225838, + -0.1270787234750244 + ], + [ + -0.05561076104640961, + -0.04468429461121559, + 0.9974521398544312, + 0.053524352948773994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962052702903748, + -0.06547611951828003, + 0.05734040588140488, + 0.09645330321330291 + ], + [ + 0.06273193657398224, + 0.9968552589416504, + 0.048418331891298294, + -0.14680173087578555 + ], + [ + -0.060330331325531006, + -0.044637519866228104, + 0.9971798658370972, + 0.05822563028106323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.995691180229187, + -0.06692962348461151, + 0.06418335437774658, + 0.09740256203429683 + ], + [ + 0.06386303901672363, + 0.9967698454856873, + 0.04869750142097473, + -0.16328608164420494 + ], + [ + -0.06723533570766449, + -0.044388726353645325, + 0.996749222278595, + 0.06270599861245055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9952253103256226, + -0.0678735002875328, + 0.07014150172472, + 0.10092999244278128 + ], + [ + 0.0643550381064415, + 0.9966095685958862, + 0.05126236751675606, + -0.18246034146709875 + ], + [ + -0.07338304072618484, + -0.046503644436597824, + 0.9962190389633179, + 0.06729136305776509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9945582151412964, + -0.06883535534143448, + 0.07820295542478561, + 0.10298781173004137 + ], + [ + 0.06502748280763626, + 0.9966179728507996, + 0.050240255892276764, + -0.2001602098762572 + ], + [ + -0.08139678090810776, + -0.044881515204906464, + 0.995670735836029, + 0.07013054955880958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9935657978057861, + -0.0728846862912178, + 0.08668813854455948, + 0.09467043498387703 + ], + [ + 0.06940480321645737, + 0.9966826438903809, + 0.04250475764274597, + -0.20319694642733027 + ], + [ + -0.08949851244688034, + -0.03621470183134079, + 0.9953283667564392, + 0.0704860462956912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9935100674629211, + -0.07891405373811722, + 0.08191641420125961, + 0.0941961679321069 + ], + [ + 0.07500428706407547, + 0.9959408640861511, + 0.04976072162389755, + -0.21139895394965486 + ], + [ + -0.0855107232928276, + -0.043293699622154236, + 0.9953961968421936, + 0.07034600823075621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9938573837280273, + -0.082437664270401, + 0.07383491098880768, + 0.09591603456260442 + ], + [ + 0.07853460311889648, + 0.9954317212104797, + 0.054295171052217484, + -0.2132217329073619 + ], + [ + -0.07797357439994812, + -0.04816306009888649, + 0.9957913756370544, + 0.06932832841481362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9936672449111938, + -0.08652183413505554, + 0.07168938219547272, + 0.09396420434846744 + ], + [ + 0.08214916288852692, + 0.9946987628936768, + 0.06185344606637955, + -0.22394484858829658 + ], + [ + -0.07666102051734924, + -0.055572524666786194, + 0.9955072999000549, + 0.06856255038426473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938861131668091, + -0.08843912184238434, + 0.06609747558832169, + 0.0960029922373645 + ], + [ + 0.08441296219825745, + 0.9945366978645325, + 0.061410557478666306, + -0.22590006375229443 + ], + [ + -0.0711674615740776, + -0.05545562133193016, + 0.9959216117858887, + 0.06455265863479434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9938932061195374, + -0.09020979702472687, + 0.0635492131114006, + 0.09829918685909751 + ], + [ + 0.08593185245990753, + 0.9940381050109863, + 0.06711164116859436, + -0.23320246649371995 + ], + [ + -0.06922446936368942, + -0.06124090030789375, + 0.9957196116447449, + 0.06060382971292609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9939779043197632, + -0.09098882973194122, + 0.06106537580490112, + 0.1037661496054876 + ], + [ + 0.0867745578289032, + 0.9938741326332092, + 0.06844223290681839, + -0.2417130081386833 + ], + [ + -0.06691877543926239, + -0.06273113936185837, + 0.9957844614982605, + 0.05575015108797934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9937766194343567, + -0.09030290693044662, + 0.06521844863891602, + 0.10121083660767628 + ], + [ + 0.08625409752130508, + 0.9943146109580994, + 0.062439244240522385, + -0.24012023909733846 + ], + [ + -0.07048609852790833, + -0.0564252994954586, + 0.9959155917167664, + 0.049197406264451835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936536550521851, + -0.09022460132837296, + 0.06717128306627274, + 0.10148463042882773 + ], + [ + 0.08608482033014297, + 0.9943462014198303, + 0.06216944381594658, + -0.24162219971730992 + ], + [ + -0.07240072637796402, + -0.05599246546626091, + 0.9958027005195618, + 0.04151113832538778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9934160113334656, + -0.09103531390428543, + 0.06955008208751678, + 0.10084962917791379 + ], + [ + 0.08661163598299026, + 0.9941729307174683, + 0.06417622417211533, + -0.243126900316952 + ], + [ + -0.07498711347579956, + -0.05772984027862549, + 0.9955120086669922, + 0.03477685627612201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9933201670646667, + -0.09181094914674759, + 0.06989818066358566, + 0.10097358964539908 + ], + [ + 0.08710307627916336, + 0.9938987493515015, + 0.06766341626644135, + -0.24557395120496517 + ], + [ + -0.07568395882844925, + -0.061123088002204895, + 0.9952567219734192, + 0.02929311306899661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9931902289390564, + -0.09156160056591034, + 0.07203930616378784, + 0.10096363940022209 + ], + [ + 0.08652207255363464, + 0.9937722682952881, + 0.0702185332775116, + -0.24816128801215778 + ], + [ + -0.07801999151706696, + -0.06350736320018768, + 0.9949269890785217, + 0.023619907518679446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931355714797974, + -0.09126362204551697, + 0.0731622576713562, + 0.10043320935089271 + ], + [ + 0.08604823052883148, + 0.9937202334403992, + 0.0715252235531807, + -0.24899120792433932 + ], + [ + -0.07923045754432678, + -0.06473875790834427, + 0.9947519302368164, + 0.017848453965116213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9930651783943176, + -0.09198590368032455, + 0.07321281731128693, + 0.10165319178071056 + ], + [ + 0.08655475825071335, + 0.9934807419776917, + 0.07419058680534363, + -0.2517611286231688 + ], + [ + -0.07956001162528992, + -0.06733916699886322, + 0.9945529699325562, + 0.01247603746091986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.993091344833374, + -0.09210819005966187, + 0.07270240038633347, + 0.10358682517613564 + ], + [ + 0.08664202690124512, + 0.9934073686599731, + 0.07506635785102844, + -0.2518037054088566 + ], + [ + -0.07913733273744583, + -0.0682486742734909, + 0.9945247173309326, + 0.0076819155651789445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9932083487510681, + -0.09154397249221802, + 0.07181129604578018, + 0.10305833738375378 + ], + [ + 0.08582258224487305, + 0.9931671619415283, + 0.07907898724079132, + -0.25606191533428807 + ], + [ + -0.07855982333421707, + -0.07237887382507324, + 0.9942784309387207, + 0.003702228716281536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993314802646637, + -0.09124509245157242, + 0.07071133702993393, + 0.10490844943723479 + ], + [ + 0.08572300523519516, + 0.9932965040206909, + 0.07754762470722198, + -0.2559691298831176 + ], + [ + -0.07731316238641739, + -0.07096761465072632, + 0.9944778680801392, + -0.0013087925937521707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9931787848472595, + -0.09172139316797256, + 0.0719936266541481, + 0.10353613118608515 + ], + [ + 0.08604688197374344, + 0.9932079315185547, + 0.07831920683383942, + -0.2570696209277306 + ], + [ + -0.07868819683790207, + -0.07159015536308289, + 0.9943253993988037, + -0.006105593308624062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932475686073303, + -0.09110751003026962, + 0.07182364910840988, + 0.10389898465229915 + ], + [ + 0.08550821989774704, + 0.9933171272277832, + 0.07752058655023575, + -0.2566643404846008 + ], + [ + -0.07840637117624283, + -0.07085562497377396, + 0.9944002628326416, + -0.010668540946566142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9931153059005737, + -0.09116356819868088, + 0.0735609233379364, + 0.09996715458956631 + ], + [ + 0.08546610921621323, + 0.9933453798294067, + 0.0772041603922844, + -0.25610883045238214 + ], + [ + -0.0801096111536026, + -0.07038567215204239, + 0.9942979216575623, + -0.015839624583356447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9933566451072693, + -0.0918126255273819, + 0.06937600672245026, + 0.10329004033253744 + ], + [ + 0.08634956181049347, + 0.9932050704956055, + 0.07802194356918335, + -0.25666667098974016 + ], + [ + -0.07606799900531769, + -0.07151302695274353, + 0.9945348501205444, + -0.02189183328951989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9933200478553772, + -0.09244798123836517, + 0.06905557960271835, + 0.10273994427252484 + ], + [ + 0.08706051111221313, + 0.9931970834732056, + 0.07733061909675598, + -0.2546712052572024 + ], + [ + -0.07573486119508743, + -0.07080203294754028, + 0.9946111440658569, + -0.027042663589745136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9934190511703491, + -0.0919349193572998, + 0.06831187754869461, + 0.10157658376476981 + ], + [ + 0.08666618168354034, + 0.9932990670204163, + 0.076458640396595, + -0.25432557312550247 + ], + [ + -0.0748833492398262, + -0.07003513723611832, + 0.9947298765182495, + -0.031187052863252747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9932799935340881, + -0.0926131159067154, + 0.06940926611423492, + 0.09867839662136732 + ], + [ + 0.08736948668956757, + 0.9933397173881531, + 0.07511843740940094, + -0.25108478821657754 + ], + [ + -0.07590393722057343, + -0.06854939460754395, + 0.9947560429573059, + -0.03570660110953804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9933192133903503, + -0.094053253531456, + 0.06686508655548096, + 0.09994996772571044 + ], + [ + 0.08891753852367401, + 0.9931328296661377, + 0.07603194564580917, + -0.2493268461389975 + ], + [ + -0.07355695962905884, + -0.06957852095365524, + 0.9948608875274658, + -0.03981040817770091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933273196220398, + -0.09483803808689117, + 0.06562494486570358, + 0.09890221444876877 + ], + [ + 0.08965705335140228, + 0.9929261207580566, + 0.07784184068441391, + -0.2497094031814095 + ], + [ + -0.07254309207201004, + -0.07143869251012802, + 0.9948034882545471, + -0.04187849223926351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9931789636611938, + -0.09631174057722092, + 0.06572400033473969, + 0.09603912291618494 + ], + [ + 0.09113829582929611, + 0.9928075671195984, + 0.07763355225324631, + -0.24783678021985334 + ], + [ + -0.07272830605506897, + -0.07111404091119766, + 0.9948132634162903, + -0.04506165989108019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9929990172386169, + -0.0982501283288002, + 0.0655733197927475, + 0.09373595458227438 + ], + [ + 0.09290900081396103, + 0.9924505949020386, + 0.08006086200475693, + -0.24951764362883735 + ], + [ + -0.0729442685842514, + -0.07340800017118454, + 0.9946308135986328, + -0.046885543472908596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9930063486099243, + -0.098293736577034, + 0.06539686024188995, + 0.09215032230098764 + ], + [ + 0.09313163161277771, + 0.9926104545593262, + 0.07778797298669815, + -0.24615693390369414 + ], + [ + -0.07255968451499939, + -0.0711534395813942, + 0.9948227405548096, + -0.047965455164650936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9929366707801819, + -0.09926310926675797, + 0.06498915702104568, + 0.08950671014877466 + ], + [ + 0.09403286129236221, + 0.9924200773239136, + 0.07912136614322662, + -0.24677195640710683 + ], + [ + -0.07235037535429001, + -0.0724513977766037, + 0.9947443008422852, + -0.04859977484895633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930378794670105, + -0.10032722353935242, + 0.06172679364681244, + 0.09041974948836373 + ], + [ + 0.09532074630260468, + 0.9922818541526794, + 0.07931365817785263, + -0.2463534472809805 + ], + [ + -0.06920769810676575, + -0.07287762314081192, + 0.9949367642402649, + -0.04952867360381814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9928606152534485, + -0.10104633867740631, + 0.06338288635015488, + 0.08598360122813212 + ], + [ + 0.09572552144527435, + 0.9920234084129333, + 0.08201326429843903, + -0.25025890542493834 + ], + [ + -0.07116445153951645, + -0.07536038756370544, + 0.9946137070655823, + -0.049449634150816844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.992802619934082, + -0.10082564502954483, + 0.06463126093149185, + 0.08120541440752836 + ], + [ + 0.09553553909063339, + 0.9921823740005493, + 0.08029396086931229, + -0.24963953434066338 + ], + [ + -0.07222168892621994, + -0.07354146987199783, + 0.9946736693382263, + -0.04950364891153115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9927588105201721, + -0.10098015516996384, + 0.06506075710058212, + 0.07659860229367144 + ], + [ + 0.09560777992010117, + 0.992119312286377, + 0.08098413050174713, + -0.25270192944086517 + ], + [ + -0.0727258250117302, + -0.07417739927768707, + 0.9945896863937378, + -0.04824818780163785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.993023693561554, + -0.0996357798576355, + 0.06306058168411255, + 0.0741612761222816 + ], + [ + 0.09455606341362, + 0.9923818707466125, + 0.07897693663835526, + -0.25467862293019994 + ], + [ + -0.070449098944664, + -0.07246320694684982, + 0.9948799014091492, + -0.04871568655321648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9930843114852905, + -0.0985749289393425, + 0.06376954168081284, + 0.06737997179681604 + ], + [ + 0.09353896230459213, + 0.9925829768180847, + 0.07765021175146103, + -0.2591385873151826 + ], + [ + -0.07095091789960861, + -0.07114826887845993, + 0.9949391484260559, + -0.04786911247285096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9933575391769409, + -0.09562221169471741, + 0.06400934606790543, + 0.061866226154086476 + ], + [ + 0.09078137576580048, + 0.9930660724639893, + 0.07468918710947037, + -0.26258701810261587 + ], + [ + -0.07070746272802353, + -0.06838221102952957, + 0.9951503872871399, + -0.047800470143556595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9942342638969421, + -0.0910915955901146, + 0.05657355487346649, + 0.06997531760822644 + ], + [ + 0.0871247723698616, + 0.9938035607337952, + 0.0690200924873352, + -0.2617714922536503 + ], + [ + -0.06251014769077301, + -0.06369318068027496, + 0.996009886264801, + -0.045159737156196075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.994172990322113, + -0.08988089114427567, + 0.05951011925935745, + 0.05651721713895148 + ], + [ + 0.08577948063611984, + 0.993975818157196, + 0.06822008639574051, + -0.2682315535739168 + ], + [ + -0.06528329849243164, + -0.06271781772375107, + 0.9958938360214233, + -0.046799883079695535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994394838809967, + -0.0869470164179802, + 0.06015925481915474, + 0.045708605252414734 + ], + [ + 0.08294249325990677, + 0.9943572282791138, + 0.06613784283399582, + -0.2729357588228646 + ], + [ + -0.06557027995586395, + -0.06077737361192703, + 0.995995283126831, + -0.042481574410950386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9956403970718384, + -0.07990458607673645, + 0.048119258135557175, + 0.055667430735551394 + ], + [ + 0.07725806534290314, + 0.9955174326896667, + 0.0545552559196949, + -0.26877672110612577 + ], + [ + -0.052262771874666214, + -0.05059981718659401, + 0.9973506331443787, + -0.039778340178040356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9952138066291809, + -0.07711166888475418, + 0.06002757325768471, + 0.04186139161848314 + ], + [ + 0.07413700968027115, + 0.9959787130355835, + 0.05030020698904991, + -0.2733374985364767 + ], + [ + -0.06366492062807083, + -0.04560919478535652, + 0.9969285726547241, + -0.025430160338853623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960020184516907, + -0.0725744217634201, + 0.05208548903465271, + 0.04442099544213161 + ], + [ + 0.07084862887859344, + 0.996898889541626, + 0.034250956028699875, + -0.2683016677940642 + ], + [ + -0.054409705102443695, + -0.030423838645219803, + 0.998055100440979, + -0.03152458754765404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967190623283386, + -0.0661657303571701, + 0.04661828652024269, + 0.043612874015006464 + ], + [ + 0.06514854729175568, + 0.9976102113723755, + 0.02301258221268654, + -0.2699671730503336 + ], + [ + -0.048029523342847824, + -0.019899964332580566, + 0.9986476898193359, + -0.03326025921981651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9972090125083923, + -0.0626349151134491, + 0.040632735937833786, + 0.04235174427675149 + ], + [ + 0.062185581773519516, + 0.9979896545410156, + 0.012230827473104, + -0.2722028622963837 + ], + [ + -0.04131712391972542, + -0.009669921360909939, + 0.9990993142127991, + -0.036160330904217865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9974756240844727, + -0.06131782382726669, + 0.03581284359097481, + 0.04087686316896608 + ], + [ + 0.06127128750085831, + 0.9981182813644409, + 0.002396518364548683, + -0.27368836063188273 + ], + [ + -0.03589240089058876, + -0.0001961699454113841, + 0.9993556141853333, + -0.03842649627086166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9979202151298523, + -0.057653289288282394, + 0.02883320115506649, + 0.04053305679170246 + ], + [ + 0.05796974524855614, + 0.9982656240463257, + -0.010261901654303074, + -0.2725464229739004 + ], + [ + -0.02819156087934971, + 0.011912011541426182, + 0.9995315670967102, + -0.0382273134768947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9982208013534546, + -0.05615319684147835, + 0.020050326362252235, + 0.04314196520839928 + ], + [ + 0.056555841118097305, + 0.9981968402862549, + -0.020113246515393257, + -0.2723002772283304 + ], + [ + -0.018884750083088875, + 0.021211424842476845, + 0.9995966553688049, + -0.03999810075270129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982188940048218, + -0.057913634926080704, + 0.014320855028927326, + 0.040866212711272235 + ], + [ + 0.05833667144179344, + 0.9978113174438477, + -0.031135564669966698, + -0.2709665751931342 + ], + [ + -0.012486337684094906, + 0.031915538012981415, + 0.9994125962257385, + -0.038136533070095145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984040260314941, + -0.05583849549293518, + 0.008451756089925766, + 0.03967658820125711 + ], + [ + 0.0561390295624733, + 0.9975841045379639, + -0.04091902822256088, + -0.27017587281607247 + ], + [ + -0.006146480794996023, + 0.041328199207782745, + 0.9991267323493958, + -0.03458841581653048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982689023017883, + -0.05872952193021774, + -0.0031677251681685448, + 0.04138600995594805 + ], + [ + 0.058495014905929565, + 0.9970081448554993, + -0.05052763968706131, + -0.26856137270277197 + ], + [ + 0.006125711835920811, + 0.05025487393140793, + 0.9987176656723022, + -0.026845164385370233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9983245730400085, + -0.05586419999599457, + -0.015073796734213829, + 0.04156047412409233 + ], + [ + 0.05491478741168976, + 0.9968409538269043, + -0.057380326092243195, + -0.2698553005090127 + ], + [ + 0.01823168434202671, + 0.056456416845321655, + 0.9982385635375977, + -0.009714790319020932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983434677124023, + -0.05327899754047394, + -0.021717403084039688, + 0.040513374593265206 + ], + [ + 0.05175776034593582, + 0.9965132474899292, + -0.0654408186674118, + -0.27028194172503234 + ], + [ + 0.025128301233053207, + 0.06420837342739105, + 0.9976201057434082, + -0.001294730989249436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998312771320343, + -0.05003432556986809, + -0.029464486986398697, + 0.04004364132334094 + ], + [ + 0.047733988612890244, + 0.996101438999176, + -0.0741845965385437, + -0.2707343360448217 + ], + [ + 0.033061396330595016, + 0.07265298068523407, + 0.9968091249465942, + 0.009867802771602895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9978516101837158, + -0.05177897959947586, + -0.04013872891664505, + 0.04498999591369729 + ], + [ + 0.048104673624038696, + 0.9949890971183777, + -0.08765082061290741, + -0.2672943069593056 + ], + [ + 0.04447606950998306, + 0.08553165197372437, + 0.9953422546386719, + 0.011331489878882477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9976634383201599, + -0.05447913333773613, + -0.04122717306017876, + 0.04432441393186997 + ], + [ + 0.05042886361479759, + 0.9943310022354126, + -0.09360958635807037, + -0.26828200664449403 + ], + [ + 0.046093229204416275, + 0.09131182730197906, + 0.9947550296783447, + 0.013273483585123416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.997802734375, + -0.05327094718813896, + -0.0393938273191452, + 0.042414711904223565 + ], + [ + 0.0492764450609684, + 0.9941393733024597, + -0.09622251242399216, + -0.2711892715310092 + ], + [ + 0.044288814067840576, + 0.09406990557909012, + 0.9945799708366394, + 0.013519275062098787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9971879124641418, + -0.05737144500017166, + -0.04821613058447838, + 0.046264359122467846 + ], + [ + 0.051859594881534576, + 0.9927229881286621, + -0.10868126153945923, + -0.26784695995437513 + ], + [ + 0.05410046502947807, + 0.105875164270401, + 0.9929066300392151, + 0.015469224904696426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9964131116867065, + -0.06205618008971214, + -0.05753251165151596, + 0.04947113680272279 + ], + [ + 0.05554807558655739, + 0.9925392866134644, + -0.10853637754917145, + -0.27157538147395727 + ], + [ + 0.06383863091468811, + 0.10495124757289886, + 0.9924262762069702, + 0.012891163133814202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969106912612915, + -0.05898837745189667, + -0.051860202103853226, + 0.04594114987192663 + ], + [ + 0.05287754535675049, + 0.9922778606414795, + -0.1121990904211998, + -0.27235520836356636 + ], + [ + 0.05807817354798317, + 0.10911022871732712, + 0.9923315644264221, + 0.016970733985617444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968762397766113, + -0.05837381258606911, + -0.05319979414343834, + 0.04555964904309778 + ], + [ + 0.052081335335969925, + 0.9922481775283813, + -0.11283236742019653, + -0.2746494941387352 + ], + [ + 0.059373851865530014, + 0.10970918834209442, + 0.9921888113021851, + 0.01734168848374507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.996816098690033, + -0.0572001077234745, + -0.05555063113570213, + 0.045523360863953206 + ], + [ + 0.05072706565260887, + 0.9924509525299072, + -0.11165939271450043, + -0.2778763112800938 + ], + [ + 0.06151820346713066, + 0.10848595201969147, + 0.9921926856040955, + 0.018382267784197014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9967480897903442, + -0.056477002799510956, + -0.057476505637168884, + 0.04606965061706993 + ], + [ + 0.04975458234548569, + 0.9924244284629822, + -0.11233069747686386, + -0.2796142566089447 + ], + [ + 0.06338518857955933, + 0.10910569876432419, + 0.9920071959495544, + 0.01913216062463247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9968408942222595, + -0.054945655167102814, + -0.05735136941075325, + 0.045066327025944534 + ], + [ + 0.04825437813997269, + 0.9925177097320557, + -0.11216117441654205, + -0.2818104869940064 + ], + [ + 0.06308501958847046, + 0.10903939604759216, + 0.9920336008071899, + 0.019359388168562544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9967246651649475, + -0.05419622361660004, + -0.06002264469861984, + 0.045620374355491225 + ], + [ + 0.04721365123987198, + 0.9925639629364014, + -0.11219444125890732, + -0.2831024156010651 + ], + [ + 0.06565683335065842, + 0.10899307578802109, + 0.9918718338012695, + 0.01905264399450767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9967198967933655, + -0.052545998245477676, + -0.061549413949251175, + 0.04617120567839463 + ], + [ + 0.04552546516060829, + 0.9928460121154785, + -0.11038196831941605, + -0.2859106634880279 + ], + [ + 0.06690922379493713, + 0.10721784085035324, + 0.9919816255569458, + 0.01927796172928977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9967301487922668, + -0.0510522685945034, + -0.06263116747140884, + 0.0467512184884269 + ], + [ + 0.04388286545872688, + 0.9928578734397888, + -0.11093951016664505, + -0.28693013373319504 + ], + [ + 0.06784755736589432, + 0.10782832652330399, + 0.9918516874313354, + 0.01891639975869989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9968020915985107, + -0.04928652197122574, + -0.06290057301521301, + 0.04675659388303757 + ], + [ + 0.04217267781496048, + 0.993058443069458, + -0.10980167239904404, + -0.2887235742244687 + ], + [ + 0.0678756833076477, + 0.10679785162210464, + 0.9919612407684326, + 0.018771241340864372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968639612197876, + -0.04813767969608307, + -0.06280920654535294, + 0.047291989851143815 + ], + [ + 0.040906794369220734, + 0.9928970336914062, + -0.11172332614660263, + -0.288752954057255 + ], + [ + 0.06774117797613144, + 0.1088036373257637, + 0.9917524456977844, + 0.0182787477696588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996920108795166, + -0.046025775372982025, + -0.06349722295999527, + 0.04763204370840238 + ], + [ + 0.03868378698825836, + 0.992913544178009, + -0.11236671358346939, + -0.2893655333485637 + ], + [ + 0.06821901351213455, + 0.10956432670354843, + 0.9916359186172485, + 0.018004705362230332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9969062805175781, + -0.04468473792076111, + -0.06466183811426163, + 0.048649154355996975 + ], + [ + 0.03717528283596039, + 0.9928986430168152, + -0.11300549656152725, + -0.2890289757739414 + ], + [ + 0.06925227493047714, + 0.11025205999612808, + 0.9914880990982056, + 0.017080697569657455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968678951263428, + -0.043737899512052536, + -0.06588923931121826, + 0.0498526398483273 + ], + [ + 0.03616994991898537, + 0.9930534362792969, + -0.11196687072515488, + -0.2896430054171519 + ], + [ + 0.0703287273645401, + 0.10923296958208084, + 0.9915251135826111, + 0.016675529334615996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.99685138463974, + -0.043049197643995285, + -0.06658865511417389, + 0.05109424097007597 + ], + [ + 0.03531789407134056, + 0.9929428100585938, + -0.11321299523115158, + -0.28848905031653965 + ], + [ + 0.07099245488643646, + 0.11050476878881454, + 0.9913368821144104, + 0.016150864092568003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9968419075012207, + -0.042871296405792236, + -0.06684467196464539, + 0.05188984562857793 + ], + [ + 0.03515176475048065, + 0.9930112957954407, + -0.11266307532787323, + -0.2870504718560439 + ], + [ + 0.07120752334594727, + 0.10995757579803467, + 0.9913823008537292, + 0.0160629211136928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9967617988586426, + -0.04308192804455757, + -0.067896269261837, + 0.053482223437591035 + ], + [ + 0.03533140942454338, + 0.9931380152702332, + -0.11148332059383392, + -0.28638155918073405 + ], + [ + 0.07223328202962875, + 0.10872344672679901, + 0.9914441704750061, + 0.015662426470251352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9967842102050781, + -0.04296252131462097, + -0.06764192879199982, + 0.05474922303891891 + ], + [ + 0.035225652158260345, + 0.9931192398071289, + -0.11168421059846878, + -0.2849110619692536 + ], + [ + 0.0719747394323349, + 0.10894232243299484, + 0.9914389848709106, + 0.015240663870960684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968405961990356, + -0.042976971715688705, + -0.06679695844650269, + 0.0557860957289284 + ], + [ + 0.03528064116835594, + 0.9930356740951538, + -0.1124076396226883, + -0.28329357149248774 + ], + [ + 0.07116270065307617, + 0.10969585180282593, + 0.991414487361908, + 0.014743984643031251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9968509078025818, + -0.04291440546512604, + -0.06668339669704437, + 0.05748678522015159 + ], + [ + 0.03518497943878174, + 0.9929664134979248, + -0.11304737627506256, + -0.28189329930118745 + ], + [ + 0.0710657387971878, + 0.11034512519836426, + 0.9913493990898132, + 0.014469137110493399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9969474077224731, + -0.0427565798163414, + -0.0653281956911087, + 0.05827335187761516 + ], + [ + 0.03510236740112305, + 0.9928461909294128, + -0.11412364989519119, + -0.280287182831264 + ], + [ + 0.06974038481712341, + 0.11148210614919662, + 0.9913163185119629, + 0.013946417917113204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9969190955162048, + -0.04263107851147652, + -0.06584007292985916, + 0.059812788970091124 + ], + [ + 0.03492018207907677, + 0.9928528666496277, + -0.11412189155817032, + -0.27954716665240437 + ], + [ + 0.07023464888334274, + 0.11147113889455795, + 0.9912826418876648, + 0.013207029577318605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9969649314880371, + -0.042544979602098465, + -0.06519826501607895, + 0.06082669252178054 + ], + [ + 0.03486871346831322, + 0.9927929639816284, + -0.11465748399496078, + -0.2790903370254315 + ], + [ + 0.0696064755320549, + 0.11203611642122269, + 0.9912632703781128, + 0.012142476469434643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9969428181648254, + -0.04213448613882065, + -0.06580029428005219, + 0.06260091089155082 + ], + [ + 0.03429344296455383, + 0.9926509857177734, + -0.11605175584554672, + -0.2776366594788078 + ], + [ + 0.07020650804042816, + 0.11344044655561447, + 0.9910612106323242, + 0.010958865749929752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9970219135284424, + -0.04099532961845398, + -0.06531979143619537, + 0.0634437617494145 + ], + [ + 0.03317640721797943, + 0.9926261901855469, + -0.11658699810504913, + -0.2764512055924722 + ], + [ + 0.06961765885353088, + 0.11407271027565002, + 0.9910301566123962, + 0.009346628531657315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9970006942749023, + -0.04069157689809799, + -0.06583213806152344, + 0.06466757766772192 + ], + [ + 0.032706283032894135, + 0.9924597144126892, + -0.11812714487314224, + -0.2746092311673231 + ], + [ + 0.07014252245426178, + 0.1156197115778923, + 0.9908138513565063, + 0.008394264440228056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.997042715549469, + -0.04034483805298805, + -0.0654071494936943, + 0.06544318591746001 + ], + [ + 0.03224236145615578, + 0.9921876192092896, + -0.12051645666360855, + -0.2720187014971788 + ], + [ + 0.06975837796926498, + 0.11805117875337601, + 0.9905542135238647, + 0.007729687831866053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9970512986183167, + -0.039729680866003036, + -0.06565253436565399, + 0.0666541707868056 + ], + [ + 0.03149758651852608, + 0.9920324087142944, + -0.12198194861412048, + -0.26989090604173555 + ], + [ + 0.06997574865818024, + 0.11955437064170837, + 0.9903585910797119, + 0.007155012015344484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9970404505729675, + -0.03980843350291252, + -0.06576981395483017, + 0.06782440869007389 + ], + [ + 0.031453173607587814, + 0.9918438792228699, + -0.12351664155721664, + -0.2676088282512826 + ], + [ + 0.07015039771795273, + 0.12108241766691208, + 0.9901605844497681, + 0.006157446271492415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9969704151153564, + -0.04002111777663231, + -0.06669574975967407, + 0.06910342751884951 + ], + [ + 0.03193916752934456, + 0.992485761642456, + -0.11811824142932892, + -0.2684885268913699 + ], + [ + 0.07092180848121643, + 0.11563017964363098, + 0.990757167339325, + 0.005663883522025902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969696998596191, + -0.04021535813808441, + -0.06658964604139328, + 0.06992264693143772 + ], + [ + 0.032275259494781494, + 0.9926903247833252, + -0.11629349738359451, + -0.2665020910176364 + ], + [ + 0.07077968865633011, + 0.11379189044237137, + 0.9909801483154297, + 0.005657776527373785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9971702694892883, + -0.037764713168144226, + -0.06500240415334702, + 0.0700950118967078 + ], + [ + 0.029767587780952454, + 0.9923425912857056, + -0.11987525969743729, + -0.26200030716982753 + ], + [ + 0.06903170794248581, + 0.11760107427835464, + 0.990658700466156, + 0.005322515790414235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9971474409103394, + -0.03930175304412842, + -0.06443897634744644, + 0.07082996889786027 + ], + [ + 0.032291263341903687, + 0.9937949180603027, + -0.10643758624792099, + -0.265648102947882 + ], + [ + 0.06822230666875839, + 0.10405314713716507, + 0.992229163646698, + 0.00615204263631567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9971386790275574, + -0.03837873786687851, + -0.06512725353240967, + 0.0725218362723627 + ], + [ + 0.03149186074733734, + 0.994114100933075, + -0.10366005450487137, + -0.26376863774302955 + ], + [ + 0.06872226297855377, + 0.10131246596574783, + 0.9924782514572144, + 0.007491527711712085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9972189664840698, + -0.0366857647895813, + -0.06487257778644562, + 0.07393261246192692 + ], + [ + 0.029851756989955902, + 0.99419766664505, + -0.10334354639053345, + -0.26004638400423774 + ], + [ + 0.06828740239143372, + 0.10111959278583527, + 0.9925279021263123, + 0.008584111264639802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.997708797454834, + -0.03732908144593239, + -0.056424736976623535, + 0.07213907135891487 + ], + [ + 0.031855206936597824, + 0.9949696063995361, + -0.09497752785682678, + -0.2608015282066552 + ], + [ + 0.0596863254904747, + 0.09296248853206635, + 0.9938790202140808, + 0.006220939203321778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9983997344970703, + -0.03450113534927368, + -0.044807154685258865, + 0.06864001772763742 + ], + [ + 0.030684346333146095, + 0.996056854724884, + -0.08324222266674042, + -0.2633248066659887 + ], + [ + 0.04750242456793785, + 0.08173413574695587, + 0.9955214858055115, + 0.0012124631296634883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9980954527854919, + -0.032065413892269135, + -0.052699822932481766, + 0.07735266591995382 + ], + [ + 0.029750216752290726, + 0.998582124710083, + -0.04414418712258339, + -0.2834624473292094 + ], + [ + 0.05404059961438179, + 0.04249228164553642, + 0.99763423204422, + -0.016172200727921266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9981256723403931, + -0.033372923731803894, + -0.05129651352763176, + 0.07834725792623953 + ], + [ + 0.031220754608511925, + 0.9986212849617004, + -0.04219928756356239, + -0.28037754325782294 + ], + [ + 0.0526341013610363, + 0.04051867499947548, + 0.9977915287017822, + -0.013318405938627837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9981986284255981, + -0.032617829740047455, + -0.05035392567515373, + 0.0783149946026522 + ], + [ + 0.03074379824101925, + 0.9988215565681458, + -0.03755366802215576, + -0.27809888380807596 + ], + [ + 0.05151950940489769, + 0.035937950015068054, + 0.9980251789093018, + -0.008435111802878913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9981815814971924, + -0.031778447329998016, + -0.05122223123908043, + 0.07941815174507122 + ], + [ + 0.02987443283200264, + 0.9988492727279663, + -0.03751830384135246, + -0.273060078020175 + ], + [ + 0.0523555614054203, + 0.03591984137892723, + 0.9979823231697083, + -0.0017873211874515852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9982117414474487, + -0.033016450703144073, + -0.049832314252853394, + 0.07881371820381342 + ], + [ + 0.031357258558273315, + 0.9989393353462219, + -0.03371811285614967, + -0.27125058515922174 + ], + [ + 0.05089271068572998, + 0.03209521248936653, + 0.9981882572174072, + 0.0050234471620353585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9980236887931824, + -0.03482842445373535, + -0.05230408161878586, + 0.07945702644553478 + ], + [ + 0.03321826457977295, + 0.9989565014839172, + -0.03134489431977272, + -0.26876857063987036 + ], + [ + 0.05334119498729706, + 0.02954549714922905, + 0.9981391429901123, + 0.011190915564921768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979170560836792, + -0.034312717616558075, + -0.05462763085961342, + 0.07986087578029691 + ], + [ + 0.032829344272613525, + 0.9990735650062561, + -0.027824215590953827, + -0.26720499617236476 + ], + [ + 0.05553175136446953, + 0.025972869247198105, + 0.998119056224823, + 0.019217107799294947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9978563785552979, + -0.03393792733550072, + -0.055954597890377045, + 0.08154643111338375 + ], + [ + 0.032468605786561966, + 0.9991090297698975, + -0.02696262113749981, + -0.2658922047438947 + ], + [ + 0.056819796562194824, + 0.025088055059313774, + 0.998069167137146, + 0.02634399035437541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9981409907341003, + -0.032112836837768555, + -0.05180061236023903, + 0.0808330329586068 + ], + [ + 0.030684741213917732, + 0.9991331100463867, + -0.028132876381278038, + -0.2640535012538825 + ], + [ + 0.052659135311841965, + 0.026491088792681694, + 0.9982610940933228, + 0.03374016990142686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9981998801231384, + -0.0307228434830904, + -0.05150829628109932, + 0.08163885050371837 + ], + [ + 0.029400041326880455, + 0.9992231130599976, + -0.02624543383717537, + -0.2635325641312695 + ], + [ + 0.052274610847234726, + 0.024683844298124313, + 0.9983276128768921, + 0.03997614524112298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9980219602584839, + -0.026527926325798035, + -0.05699453875422478, + 0.07901456002211134 + ], + [ + 0.022272776812314987, + 0.9970065951347351, + -0.07403861731290817, + -0.24022982368519255 + ], + [ + 0.05878802016377449, + 0.07262273877859116, + 0.995625376701355, + 0.07538425182545935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9981994032859802, + -0.029704339802265167, + -0.05211108922958374, + 0.08285306609378985 + ], + [ + 0.028592098504304886, + 0.9993498921394348, + -0.021961038932204247, + -0.26469003285926124 + ], + [ + 0.05272954702377319, + 0.020431531593203545, + 0.9983997941017151, + 0.051012146358306594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9981359839439392, + -0.030931716784834862, + -0.052609335631132126, + 0.08361998665605679 + ], + [ + 0.029742250218987465, + 0.9992873072624207, + -0.023244211450219154, + -0.2645568335780522 + ], + [ + 0.053290825337171555, + 0.02163616381585598, + 0.9983446002006531, + 0.05499939290689422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.997984766960144, + -0.03265747055411339, + -0.05440486967563629, + 0.08427171872804998 + ], + [ + 0.03148407116532326, + 0.9992557168006897, + -0.02228737808763981, + -0.2644591699243634 + ], + [ + 0.055092230439186096, + 0.020529577508568764, + 0.9982702136039734, + 0.057931500386733274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9977709650993347, + -0.03383787348866463, + -0.05751657485961914, + 0.08512917963455763 + ], + [ + 0.032688241451978683, + 0.9992488622665405, + -0.02081282064318657, + -0.26552223562152233 + ], + [ + 0.058177635073661804, + 0.01888631284236908, + 0.9981275796890259, + 0.0610617332004167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9976934194564819, + -0.03401286154985428, + -0.05874449014663696, + 0.08587054558215547 + ], + [ + 0.032696790993213654, + 0.9991955161094666, + -0.023221267387270927, + -0.26608802990375696 + ], + [ + 0.059487052261829376, + 0.021246949210762978, + 0.9980029463768005, + 0.06300548513556693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.997774600982666, + -0.033431682735681534, + -0.05769072473049164, + 0.08596677565784358 + ], + [ + 0.03197738900780678, + 0.9991516470909119, + -0.02595035545527935, + -0.2671459445638673 + ], + [ + 0.05850934982299805, + 0.02404780499637127, + 0.9979971647262573, + 0.06548547709321642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9978275299072266, + -0.033235423266887665, + -0.056882504373788834, + 0.08687934651254463 + ], + [ + 0.031602270901203156, + 0.9990687966346741, + -0.029373859986662865, + -0.2676071807273201 + ], + [ + 0.05780578777194023, + 0.027512429282069206, + 0.9979486465454102, + 0.06642918713599236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9978557825088501, + -0.032415721565485, + -0.05686001852154732, + 0.08836587575659924 + ], + [ + 0.030587265267968178, + 0.998995840549469, + -0.03273814171552658, + -0.26803982124461995 + ], + [ + 0.057864148169755936, + 0.030928753316402435, + 0.9978452324867249, + 0.06795939634313117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9980843663215637, + -0.03173929825425148, + -0.05310596898198128, + 0.088166950760292 + ], + [ + 0.02990765869617462, + 0.9989418983459473, + -0.034936755895614624, + -0.26891995558997134 + ], + [ + 0.05415864661335945, + 0.03328155726194382, + 0.9979775547981262, + 0.0688507893728418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9982484579086304, + -0.03061579167842865, + -0.05062287300825119, + 0.08924945862963796 + ], + [ + 0.02872990444302559, + 0.9988808631896973, + -0.03757090121507645, + -0.2696323757144538 + ], + [ + 0.051716484129428864, + 0.0360507071018219, + 0.9980108737945557, + 0.07033136080611836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9983004331588745, + -0.029943782836198807, + -0.04999587684869766, + 0.09074311432138842 + ], + [ + 0.027950525283813477, + 0.9988045692443848, + -0.04010260850191116, + -0.2695836063448366 + ], + [ + 0.05113693326711655, + 0.03863704204559326, + 0.9979439973831177, + 0.07093443452165676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9982691407203674, + -0.030849430710077286, + -0.050070296972990036, + 0.09190205964215029 + ], + [ + 0.028850726783275604, + 0.9987766146659851, + -0.04016152769327164, + -0.2691887234265988 + ], + [ + 0.05124800279736519, + 0.038647450506687164, + 0.9979378581047058, + 0.0725315388578635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9982865452766418, + -0.03061797469854355, + -0.04986458644270897, + 0.09295490969966046 + ], + [ + 0.028691422194242477, + 0.9988309741020203, + -0.03890376165509224, + -0.2695494860645149 + ], + [ + 0.05099744722247124, + 0.03740641847252846, + 0.9979979991912842, + 0.07299651715878423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9982951879501343, + -0.030590660870075226, + -0.04970870912075043, + 0.09332154957118438 + ], + [ + 0.028596118092536926, + 0.9987762570381165, + -0.0403522327542305, + -0.26974601530945386 + ], + [ + 0.05088227987289429, + 0.0388619601726532, + 0.9979482889175415, + 0.07394244347835754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9982274174690247, + -0.0303262360394001, + -0.05120914801955223, + 0.094228580971395 + ], + [ + 0.02806825190782547, + 0.9986260533332825, + -0.04425128921866417, + -0.2694237967106429 + ], + [ + 0.05248076096177101, + 0.042735498398542404, + 0.9977070689201355, + 0.07440902072597634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9981895685195923, + -0.030788790434598923, + -0.051668763160705566, + 0.0940475837205426 + ], + [ + 0.028380580246448517, + 0.9985051155090332, + -0.046712279319763184, + -0.2694985912813173 + ], + [ + 0.05302973836660385, + 0.04516132175922394, + 0.9975712299346924, + 0.07496942608923346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9980025291442871, + -0.029474642127752304, + -0.055876608937978745, + 0.093750490971118 + ], + [ + 0.026611793786287308, + 0.998328447341919, + -0.051304757595062256, + -0.2700873391064522 + ], + [ + 0.05729539319872856, + 0.049715302884578705, + 0.9971186518669128, + 0.07636984269675258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9979223608970642, + -0.02684088982641697, + -0.05857028439640999, + 0.09279736897523899 + ], + [ + 0.023560186848044395, + 0.9981526136398315, + -0.056002262979745865, + -0.27159006260335444 + ], + [ + 0.059965234249830246, + 0.05450598523020744, + 0.996711254119873, + 0.07577784731984138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9975409507751465, + -0.02453448437154293, + -0.0656515508890152, + 0.09253822737926995 + ], + [ + 0.020223861560225487, + 0.9976451992988586, + -0.06553660333156586, + -0.27123630534388593 + ], + [ + 0.06710486114025116, + 0.06404772400856018, + 0.9956881403923035, + 0.07823265895143255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9974836111068726, + -0.019333699718117714, + -0.06821057200431824, + 0.09082329450696187 + ], + [ + 0.01455052848905325, + 0.9974453449249268, + -0.06993629783391953, + -0.271903091572694 + ], + [ + 0.06938844919204712, + 0.06876780837774277, + 0.9952166676521301, + 0.07869011090768802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9969993233680725, + -0.015531493350863457, + -0.0758359432220459, + 0.09001771789955926 + ], + [ + 0.009859103709459305, + 0.997164249420166, + -0.0746074914932251, + -0.27254363948388116 + ], + [ + 0.07677966356277466, + 0.07363595068454742, + 0.9943252205848694, + 0.08114942419570642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.99686199426651, + -0.010184193029999733, + -0.07850120216608047, + 0.08762264011518939 + ], + [ + 0.003803637344390154, + 0.996706485748291, + -0.08100449293851852, + -0.272774468717276 + ], + [ + 0.07906762510538101, + 0.08045170456171036, + 0.9936175346374512, + 0.08233168368989771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9965309500694275, + -0.00522161228582263, + -0.08305907994508743, + 0.08607803750783205 + ], + [ + -0.0018359672976657748, + 0.9964075088500977, + -0.08466806262731552, + -0.27211327803088353 + ], + [ + 0.0832028016448021, + 0.08452684432268143, + 0.9929413199424744, + 0.0842165283858776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/orbit_left/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..29bbc822bee18f46430f90de089ca1c18e9dd6d3 --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/orbit_left/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998916197502158, + -0.010517086833715439, + 0.01030215368218123, + 0.008872496200005263 + ], + [ + 0.010534491739735512, + 0.999943196773529, + -0.0016367240627645145, + -0.0072922422235479145 + ], + [ + -0.010284354310377239, + 0.0017450745217502117, + 0.9999455946306391, + 0.00011976662108288168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996521217370044, + -0.020598368719220165, + 0.016471619598870384, + 0.020492202085896485 + ], + [ + 0.020624506584302125, + 0.9997862577438357, + -0.0014184989165896191, + -0.013889521083769323 + ], + [ + -0.016438879912940685, + 0.0017577244434505705, + 0.9998633030768566, + 0.003861975057453807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993993246894579, + -0.02704532817006111, + 0.02166750989208097, + 0.03376141793215017 + ], + [ + 0.027045804257116335, + 0.9996341466903687, + 0.0002711094774292673, + -0.02001229850747294 + ], + [ + -0.021666915317582875, + 0.0003150685515720397, + 0.9997651867828078, + 0.007748672956428756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9990091996169487, + -0.03251559287309647, + 0.03038660575745687, + 0.04341684730181564 + ], + [ + 0.03238683340582485, + 0.999464273452759, + 0.004720188435847429, + -0.0288046870077267 + ], + [ + -0.030523804423424932, + -0.0037313858047127732, + 0.9995270672304974, + 0.013897570446006324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984811275341214, + -0.04022211953997612, + 0.037651544843937755, + 0.050476938550947495 + ], + [ + 0.039874484187956014, + 0.9991552829742432, + 0.009939088248539164, + -0.039657476395997024 + ], + [ + -0.03801950860984972, + -0.008422656916081905, + 0.9992415054756055, + 0.020994750847144025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9979532488523342, + -0.04740295559167862, + 0.042921521180249785, + 0.058047631206879655 + ], + [ + 0.046709244210339756, + 0.9987634420394897, + 0.01702410466917882, + -0.055988584346047185 + ], + [ + -0.04367543891333568, + -0.014984428882598877, + 0.9989333908935452, + 0.028087538470548453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9973261105722689, + -0.052909329533576965, + 0.05041117378458818, + 0.0630392385441381 + ], + [ + 0.05187316089112815, + 0.9984190464019775, + 0.02164645266952465, + -0.06897565912897939 + ], + [ + -0.05147677346869614, + -0.018973583355545998, + 0.9984939148625184, + 0.03535261019630174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9966423991053063, + -0.05675999820232393, + 0.05901027508386431, + 0.06471475679091399 + ], + [ + 0.05505147241130909, + 0.9980270862579348, + 0.030187703004713642, + -0.08664879767912503 + ], + [ + -0.06060730827009569, + -0.026837741956114776, + 0.9978008555371466, + 0.04315469252858042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9960220754768437, + -0.0600983425974846, + 0.06578954540181078, + 0.06626915796434699 + ], + [ + 0.057753725543091695, + 0.9976457357406618, + 0.036979628601174784, + -0.10226869646632945 + ], + [ + -0.0678570716867159, + -0.033032931387424476, + 0.9971480698570605, + 0.05080914612552628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955041788114413, + -0.06270180642604828, + 0.07099258957275527, + 0.06828071024904074 + ], + [ + 0.059295481958816655, + 0.9970315098762512, + 0.04911464883172325, + -0.1284744669905133 + ], + [ + -0.07386142586929124, + -0.04468429461121559, + 0.9962669410418574, + 0.057296489847923474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9948486019289244, + -0.06547611951828003, + 0.07738941750024485, + 0.06910687268553117 + ], + [ + 0.06174421382720196, + 0.9968552589416504, + 0.049671750405223335, + -0.14840631540865096 + ], + [ + -0.08039836215659006, + -0.044637519866228104, + 0.9957627915679904, + 0.06250453426925727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9940409650831866, + -0.06692962348461151, + 0.08604062471796511, + 0.06760513850363212 + ], + [ + 0.0627778699655521, + 0.9967698454856873, + 0.05008865579835051, + -0.16506979752291426 + ], + [ + -0.08911511201182522, + -0.044388726353645325, + 0.9950317076816326, + 0.06758057694268231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9932742509927316, + -0.06787350028753282, + 0.09380570820455984, + 0.06868310318834618 + ], + [ + 0.06311688610046472, + 0.9966095685958865, + 0.05277935147465787, + -0.18440080424030694 + ], + [ + -0.09706997763853982, + -0.04650364443659783, + 0.9941905570364623, + 0.07277105152938897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9922273760755078, + -0.06883535534143448, + 0.10366571134432481, + 0.06831071948142452 + ], + [ + 0.06371857220860472, + 0.9966179728507996, + 0.051890272577003356, + -0.202276971114849 + ], + [ + -0.10688699939255658, + -0.044881515204906464, + 0.9932576803142866, + 0.07631143920470386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9908108963035119, + -0.0728846862912178, + 0.1139368057301947, + 0.05758408839746951 + ], + [ + 0.06821153804638845, + 0.9966826438903809, + 0.044394450206414804, + -0.20565730839098736 + ], + [ + -0.11679451666025786, + -0.03621470183134079, + 0.9924956333799871, + 0.07741214025819776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9906846925273459, + -0.07891405373811722, + 0.11097924606776004, + 0.05462144350362959 + ], + [ + 0.07351471667929071, + 0.9959408640861511, + 0.051936104263651514, + -0.21422048247444733 + ], + [ + -0.11462725429992837, + -0.043293699622154236, + 0.9924647424758348, + 0.07757400028674054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9910784836089913, + -0.082437664270401, + 0.10472598817269217, + 0.053820338095156295 + ], + [ + 0.07680701421510853, + 0.9954317212104797, + 0.05671271509981035, + -0.2163518309461382 + ], + [ + -0.10892282922661037, + -0.04816306009888649, + 0.9928827520765542, + 0.07668816003010254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9907657490280246, + -0.08652183413505554, + 0.1043896148182773, + 0.04939167596303019 + ], + [ + 0.08006662666339594, + 0.9946987628936768, + 0.06452649880720807, + -0.2273899074982228 + ], + [ + -0.1094191796799512, + -0.055572524666786194, + 0.9924410004323813, + 0.07629481200123306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9909861844127631, + -0.08843912184238435, + 0.10062238581950515, + 0.04891846122449544 + ], + [ + 0.08222619215424389, + 0.9945366978645327, + 0.06430908241250519, + -0.22964644714567745 + ], + [ + -0.1057600944582645, + -0.055455621331930174, + 0.9928441301781864, + 0.07245445923290653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9909006805783693, + -0.09020979702472687, + 0.09989018413725997, + 0.04872402263155285 + ], + [ + 0.08341749156644195, + 0.9940381050109863, + 0.07021237603368848, + -0.23719508349013257 + ], + [ + -0.10562849590547681, + -0.06124090030789375, + 0.9925181071524048, + 0.06882304384011102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9908962504885019, + -0.09098882973194122, + 0.09922537561496228, + 0.051695335231917154 + ], + [ + 0.08407974871667273, + 0.9938741326332092, + 0.0717269753120401, + -0.24594300310629671 + ], + [ + -0.105143887731461, + -0.06273113936185837, + 0.9924764879534351, + 0.06425915486607706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9903445826320204, + -0.09030290693044662, + 0.10518090619810332, + 0.04669334231805058 + ], + [ + 0.08366997042143967, + 0.9943146109580994, + 0.06586170822426203, + -0.24455440021336053 + ], + [ + -0.11053041174322333, + -0.0564252994954586, + 0.9922697133290506, + 0.05830921479373932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.989945301305516, + -0.09022460132837296, + 0.10893974431063908, + 0.04450686719022655 + ], + [ + 0.08339148310847347, + 0.9943462014198303, + 0.06573809078933096, + -0.24624962289083097 + ], + [ + -0.11425501667164734, + -0.05599246546626091, + 0.9918723076623677, + 0.051146998571322974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9894022980940376, + -0.09103531390428543, + 0.11311798273621046, + 0.0414224868566434 + ], + [ + 0.08370915336988988, + 0.9941729307174683, + 0.06791863425258099, + -0.24797576510704397 + ], + [ + -0.11864183171151468, + -0.05772984027862549, + 0.9912574551324992, + 0.04498576037128593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9890818771789007, + -0.0918109491467476, + 0.11527250406631714, + 0.03907840239413842 + ], + [ + 0.08391604574042037, + 0.9938987493515017, + 0.07157779729379182, + -0.25063490708892383 + ], + [ + -0.12114082670731578, + -0.06112308800220491, + 0.990751686529925, + 0.03996958094799965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9886375130810319, + -0.09156160056591035, + 0.11921560393475436, + 0.03661438672370822 + ], + [ + 0.08308294005257102, + 0.9937722682952883, + 0.07425588546938429, + -0.25337094782185987 + ], + [ + -0.12527215357483712, + -0.0635073632001877, + 0.9900877335932907, + 0.034873793684246084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9883075243227498, + -0.09126362204551697, + 0.12214424527218178, + 0.03361991301280717 + ], + [ + 0.08240902831489397, + 0.9937202334403992, + 0.07568954771743855, + -0.25436073021464994 + ], + [ + -0.12828489830354403, + -0.06473875790834427, + 0.9896220758349143, + 0.029616063574278144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9880093595472178, + -0.09198590368032457, + 0.12400028469761902, + 0.03237061193546374 + ], + [ + 0.08263961240269638, + 0.9934807419776919, + 0.07852810839624737, + -0.25734732692623324 + ], + [ + -0.13041537437946218, + -0.06733916699886323, + 0.9891699730465686, + 0.024701310927592826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9878339045326578, + -0.09210819005966187, + 0.12530057965012764, + 0.03182443635691195 + ], + [ + 0.08253637841065524, + 0.9934073686599731, + 0.07955843855574256, + -0.2575897094088179 + ], + [ + -0.13180250993107745, + -0.0682486742734909, + 0.9889237731953039, + 0.020312853426338706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.987768598255024, + -0.09154397249221802, + 0.1262255226564863, + 0.028806205766095327 + ], + [ + 0.08135210369137613, + 0.9931671619415283, + 0.08367100496106655, + -0.2619570676128637 + ], + [ + -0.13302261646027885, + -0.07237887382507324, + 0.9884666041816129, + 0.016723482583074205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9877045295198064, + -0.09124509245157243, + 0.12694153263430605, + 0.028164841071445824 + ], + [ + 0.08118623267681085, + 0.9932965040206911, + 0.08228525595774845, + -0.26206435327505245 + ], + [ + -0.1335987015101991, + -0.07096761465072633, + 0.9884912453503047, + 0.012051003550511414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9872596105422695, + -0.09172139316797256, + 0.13002169950212997, + 0.02433762156834369 + ], + [ + 0.0813135959608909, + 0.9932079315185547, + 0.08322297260008223, + -0.2633815868612264 + ], + [ + -0.1367719200135546, + -0.07159015536308289, + 0.988012284390734, + 0.007794410055744404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9870988382630332, + -0.09110751003026962, + 0.1316634065159777, + 0.02221848943188151 + ], + [ + 0.08067163825188543, + 0.9933171272277832, + 0.0825420122781786, + -0.26313523153379464 + ], + [ + -0.13830371670964656, + -0.07085562497377396, + 0.987851974592829, + 0.003643089790980509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9866160642913234, + -0.09116356819868088, + 0.13519601302782236, + 0.015836851274651627 + ], + [ + 0.080498042540872, + 0.9933453798294067, + 0.08237113179702718, + -0.262774780037389 + ], + [ + -0.14180558386208647, + -0.07038567215204239, + 0.987389023231098, + -0.0009498276215240426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9868757153044234, + -0.0918126255273819, + 0.1328411729468907, + 0.016629219732033344 + ], + [ + 0.081176380045613, + 0.9932050704956055, + 0.08339104164037806, + -0.2635994450592489 + ], + [ + -0.1395948757527401, + -0.07151302695274353, + 0.9876229944875443, + -0.006917071049180273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9866154461034035, + -0.09244798123836517, + 0.13432554506071612, + 0.013603657471459626 + ], + [ + 0.0817785109586056, + 0.9931970834732056, + 0.08289651615357893, + -0.2618722103659102 + ], + [ + -0.14107535654149653, + -0.07080203294754028, + 0.9874638428200405, + -0.01166948956864036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9865169891847194, + -0.0919349193572998, + 0.13539628463270656, + 0.009948540630623934 + ], + [ + 0.08129220606712512, + 0.9932990670204163, + 0.0821494246579994, + -0.26169768380880587 + ], + [ + -0.1420414107582915, + -0.07003513723611832, + 0.9873800083357877, + -0.015464854907859526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9860524533020674, + -0.0926131159067154, + 0.13828720517303425, + 0.004597115603693469 + ], + [ + 0.08193643885786166, + 0.9933397173881531, + 0.08101004154128366, + -0.25873534073262594 + ], + [ + -0.14486877055408212, + -0.06854939460754395, + 0.9870734683922017, + -0.019461928366405905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9860182492197848, + -0.094053253531456, + 0.1375573033177337, + 0.0033653825285582806 + ], + [ + 0.08326692992695688, + 0.9931328296661377, + 0.08218152953270941, + -0.25732173174147455 + ], + [ + -0.14434210803937855, + -0.06957852095365524, + 0.9870786025887485, + -0.023366944346455608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9858635815271568, + -0.09483803808689117, + 0.13812601461918653, + -0.00017153227288226047 + ], + [ + 0.0837214469469249, + 0.9929261207580566, + 0.08419298484973145, + -0.25796625964820574 + ], + [ + -0.14513362418765186, + -0.07143869251012802, + 0.9868296264203565, + -0.025115709052385433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9854536867616668, + -0.09631174057722092, + 0.1400183178265001, + -0.0054952371568915415 + ], + [ + 0.08505986052167804, + 0.9928075671195984, + 0.08424949572643448, + -0.256454480517721 + ], + [ + -0.14712545855668147, + -0.07111404091119766, + 0.9865581255126813, + -0.02786065714698397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9850278548108544, + -0.0982501283288002, + 0.14165815808568033, + -0.010257397190334167 + ], + [ + 0.08648449289207881, + 0.9924505949020386, + 0.08696123588354362, + -0.2585078497255654 + ], + [ + -0.14913267630520513, + -0.07340800017118454, + 0.9860886200221645, + -0.029244070265662885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9847880471347308, + -0.098293736577034, + 0.14328593765500952, + -0.014321660705695252 + ], + [ + 0.08672582740801629, + 0.9926104545593262, + 0.08487108110912922, + -0.25540850184396385 + ], + [ + -0.1505694223054228, + -0.0711534395813942, + 0.9860355176201867, + -0.02994347570936378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9844874286453225, + -0.09926310926675799, + 0.14467662406089954, + -0.0194379471530588 + ], + [ + 0.08736131685220735, + 0.9924200773239138, + 0.08643130162763601, + -0.25632419835263687 + ], + [ + -0.152159426019939, + -0.07245139777660371, + 0.9856968651392762, + -0.030182610940557988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9845902394640971, + -0.10032722353935242, + 0.14323577577646252, + -0.021047331894321578 + ], + [ + 0.08847062810408408, + 0.9922818541526794, + 0.08688871625307637, + -0.25626614539997444 + ], + [ + -0.15084756904338323, + -0.07287762314081192, + 0.9858670707695979, + -0.031045729738057484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.984010419198646, + -0.10104633867740631, + 0.14667340083340974, + -0.02792191350365822 + ], + [ + 0.08848766853257992, + 0.9920234084129333, + 0.08977462611742563, + -0.2604090164403294 + ], + [ + -0.15457485063375143, + -0.07536038756370544, + 0.9851027464164404, + -0.030333642292648365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9835751799404095, + -0.10082564502954483, + 0.14971341771118274, + -0.035155486771848696 + ], + [ + 0.08828164122523519, + 0.9921823740005493, + 0.08820720607750508, + -0.2600071494829363 + ], + [ + -0.1574365612663085, + -0.07354146987199783, + 0.9847869871209545, + -0.02984673674374689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9832181071686573, + -0.10098015516996384, + 0.1519378547815211, + -0.042227873858077664 + ], + [ + 0.08813139697065066, + 0.992119312286377, + 0.0890625277115808, + -0.26329093921924523 + ], + [ + -0.159734030055911, + -0.07417739927768707, + 0.9843692038795849, + -0.028113284473990294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.983381305179635, + -0.09963577985763553, + 0.15176923785855834, + -0.047196673090253966 + ], + [ + 0.0871005281795383, + 0.9923818707466128, + 0.08713038298954484, + -0.26538236197707576 + ], + [ + -0.15929433823968772, + -0.07246320694684984, + 0.9845681325204334, + -0.02843784556933133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9830973613068421, + -0.0985749289393425, + 0.154280855442012, + -0.05645382887197685 + ], + [ + 0.0860493007764916, + 0.9925829768180847, + 0.08587555350589321, + -0.26994896994808626 + ], + [ + -0.16160171689344666, + -0.07114826887845993, + 0.9842879796678677, + -0.027113773317200336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9830629417661464, + -0.09562221169471741, + 0.1563446498918297, + -0.06447630141141535 + ], + [ + 0.08342242986692011, + 0.9930660724639893, + 0.08282771910480051, + -0.2732967021984449 + ], + [ + -0.1631807447705918, + -0.06838221102952957, + 0.9842234924748008, + -0.026658612223603197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9843546358876007, + -0.0910915955901146, + 0.1508253606801735, + -0.059051043134866296 + ], + [ + 0.08016948775443367, + 0.9938035607337952, + 0.07698930029979631, + -0.27228430134658493 + ], + [ + -0.15690385578224225, + -0.06369318068027496, + 0.9855579090759758, + -0.024662266106736854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.983731385733489, + -0.08988089114427567, + 0.1555440442548189, + -0.07494518552107313 + ], + [ + 0.07876694365560755, + 0.993975818157196, + 0.07620936998295622, + -0.27877772642434645 + ], + [ + -0.1614567804815043, + -0.06271781772375107, + 0.9848848408438751, + -0.0255408972699111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9836016680625295, + -0.08694701641798021, + 0.1580126260047164, + -0.08825592761019031 + ], + [ + 0.07600967351951875, + 0.994357228279114, + 0.07400135792240699, + -0.28332330224772406 + ], + [ + -0.16355519459792583, + -0.060777373611927046, + 0.9846602276645593, + -0.020781284880855174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9857602698182827, + -0.07990458607673646, + 0.14795929755399398, + -0.08110761256531764 + ], + [ + 0.07138273665799434, + 0.995517432689667, + 0.06204506036911505, + -0.2787239287852629 + ], + [ + -0.15225374007579462, + -0.05059981718659402, + 0.9870453289441418, + -0.01949496455382964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9838446521918396, + -0.0771116688847542, + 0.16156587142732168, + -0.09718162626472221 + ], + [ + 0.06859983562615773, + 0.9959787130355837, + 0.057623515855404255, + -0.2830837827998129 + ], + [ + -0.16535961444487257, + -0.04560919478535653, + 0.9851781559721102, + -0.0031814373336372416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9851584201934684, + -0.07257442176342012, + 0.15555001141025548, + -0.09732553757360614 + ], + [ + 0.06689549240099003, + 0.9968988895416262, + 0.041444532803322616, + -0.2779696507809627 + ], + [ + -0.15807544184691, + -0.03042383864521981, + 0.986958233265467, + -0.010186999758867148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9861644402885367, + -0.06616573035717012, + 0.1519929292998977, + -0.10080035360774862 + ], + [ + 0.06234262628778271, + 0.9976102113723757, + 0.029787734084076426, + -0.2791305260482436 + ], + [ + -0.15360062313046674, + -0.01989996433258057, + 0.9879326353896659, + -0.012468677761292006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.987016892783775, + -0.0626349151134491, + 0.1479002610451333, + -0.10470804918659381 + ], + [ + 0.060504619421914894, + 0.9979896545410156, + 0.018863476609500114, + -0.28123713032532877 + ], + [ + -0.14878444481829142, + -0.009669921360909939, + 0.9888223972835547, + -0.015997656654183852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9875378542530902, + -0.06131782382726669, + 0.14494539256555394, + -0.10878451776534026 + ], + [ + 0.060639287022435914, + 0.9981182813644409, + 0.009098947284993523, + -0.28287870139700366 + ], + [ + -0.14523056452883848, + -0.0001961699454113841, + 0.9893977921807136, + -0.018735128238381745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.988490503996245, + -0.057653289288282394, + 0.13986648191367626, + -0.11179218084306913 + ], + [ + 0.058752265112726604, + 0.9982656240463257, + -0.003737557206113978, + -0.28156858508386046 + ], + [ + -0.13940841524113498, + 0.011912011541426182, + 0.9901633256627792, + -0.019383909607727248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9895262190447306, + -0.05615319684147836, + 0.13298362931205526, + -0.11185692331790045 + ], + [ + 0.058470004872157054, + 0.9981968402862551, + -0.013578084556165384, + -0.28139591792734125 + ], + [ + -0.13198138809809995, + 0.021211424842476848, + 0.991025237017656, + -0.02229270522683812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.989938567125882, + -0.05791363492608072, + 0.1291033715815548, + -0.11671836547078418 + ], + [ + 0.061532240969358686, + 0.9978113174438479, + -0.02421515937412379, + -0.28065589914392053 + ], + [ + -0.1274184173174255, + 0.03191553801298142, + 0.9913354593939203, + -0.02115979787309244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9905705168352803, + -0.05583849549293518, + 0.1251082833132392, + -0.12052856654759321 + ], + [ + 0.060537593329306784, + 0.9975841045379639, + -0.034075758315706715, + -0.279815273121002 + ], + [ + -0.12290329910867667, + 0.041328199207782745, + 0.9915577570618604, + -0.018364687835815373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9915850988603613, + -0.05872952193021776, + 0.11536822571074934, + -0.12148027727001463 + ], + [ + 0.0640799254364111, + 0.9970081448554995, + -0.04322582905225083, + -0.27888446950445545 + ], + [ + -0.11248443503254864, + 0.05025487393140794, + 0.9923818579291128, + -0.01237586567775391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928626083041532, + -0.05586419999599457, + 0.10537083806715107, + -0.12400790918467805 + ], + [ + 0.06143083080191942, + 0.9968409538269043, + -0.05034271273887805, + -0.2798520660997484 + ], + [ + -0.10222560771557994, + 0.056456416845321655, + 0.9931578671967183, + 0.0029647229053087996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9934996591004506, + -0.05327899754047394, + 0.10059698051148437, + -0.12767286111573717 + ], + [ + 0.05937581927110143, + 0.9965132474899292, + -0.05861636793399861, + -0.2800281046746211 + ], + [ + -0.0971232038684606, + 0.06420837342739105, + 0.9931990687554402, + 0.010407576966816724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9942453268031368, + -0.05003432556986809, + 0.09472473544327847, + -0.13077312587201037 + ], + [ + 0.05657612224566004, + 0.996101438999176, + -0.06768330978997834, + -0.2800810753935324 + ], + [ + -0.09096895422243344, + 0.07265298068523407, + 0.9931999480828624, + 0.02037802952747768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9949575720404732, + -0.05177897959947586, + 0.08589751652175368, + -0.12843443807219435 + ], + [ + 0.05876424125642757, + 0.9949890971183777, + -0.0808918409244575, + -0.27706408081673845 + ], + [ + -0.0812785899814383, + 0.08553165197372437, + 0.9930146602336145, + 0.019995865281318213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9947511242747351, + -0.05447913333773613, + 0.0866153376342094, + -0.1315985209560604 + ], + [ + 0.061978915701273125, + 0.9943310022354126, + -0.08639698462390555, + -0.27870099559282147 + ], + [ + -0.08141748176462064, + 0.09131182730197906, + 0.9924884626593717, + 0.02176958780511213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9944913702455682, + -0.053270947188138976, + 0.09027228181546028, + -0.13601520759904648 + ], + [ + 0.06133297143262674, + 0.9941393733024599, + -0.08902362916819645, + -0.28159599949737507 + ], + [ + -0.08500085947633361, + 0.09406990557909015, + 0.9919302754373571, + 0.02245525598058852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9948744959419664, + -0.057371445000171675, + 0.08326623167497724, + -0.13471893901047066 + ], + [ + 0.06569409015352064, + 0.9927229881286623, + -0.10092234990321189, + -0.27908068921292234 + ], + [ + -0.07687023929815835, + 0.10587516427040103, + 0.9914037535749401, + 0.02272974306429985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9951938886468846, + -0.06205618008971214, + 0.07575092763794664, + -0.13404594925541682 + ], + [ + 0.06951502884454112, + 0.9925392866134644, + -0.10016683441942646, + -0.28363824596341625 + ], + [ + -0.06896980281198169, + 0.10495124757289886, + 0.9920828850469964, + 0.018460393752048727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9947804423947926, + -0.05898837745189668, + 0.08326030472043466, + -0.14008224209399678 + ], + [ + 0.0675469292183036, + 0.9922778606414797, + -0.10402924130972628, + -0.28415203046554277 + ], + [ + -0.07648083948243377, + 0.10911022871732715, + 0.9910830889444752, + 0.023684202003223964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9947755765368985, + -0.05837381258606912, + 0.08374967375304598, + -0.14299502900011787 + ], + [ + 0.06703523342567172, + 0.9922481775283816, + -0.10464170348187996, + -0.2864672098908025 + ], + [ + -0.07699212737676371, + 0.10970918834209445, + 0.9909773478140625, + 0.023899491847331852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9948870604004749, + -0.0572001077234745, + 0.0832342734388559, + -0.14557648271834336 + ], + [ + 0.06572283403116506, + 0.9924509525299072, + -0.10354498663869273, + -0.2895720941399687 + ], + [ + -0.07668315289200671, + 0.10848595201969147, + 0.9911359688693736, + 0.02461864862588474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9949362666654129, + -0.05647700279951097, + 0.08313921141585565, + -0.14756685981108225 + ], + [ + 0.06504377370176909, + 0.9924244284629824, + -0.10422577206548043, + -0.29128835445348705 + ], + [ + -0.07662303337397075, + 0.10910569876432422, + 0.9910725854868228, + 0.025086475143296375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9948564421073982, + -0.05494565516710283, + 0.08509763548144, + -0.1511007811419659 + ], + [ + 0.06372541754520744, + 0.9925177097320559, + -0.1041522213630723, + -0.2933394265723113 + ], + [ + -0.07873819641039323, + 0.10903939604759219, + 0.9909140635055067, + 0.025450271124186068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9949689678287644, + -0.05419622361660004, + 0.08425870330450437, + -0.1530889414062336 + ], + [ + 0.06289092260349412, + 0.9925639629364014, + -0.104218296699188, + -0.2945734863746983 + ], + [ + -0.07798391716238745, + 0.10899307578802109, + 0.9909788409032451, + 0.024708762752621745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9950311391557903, + -0.052545998245477676, + 0.08456899627879988, + -0.15508156468512496 + ], + [ + 0.06114699549898414, + 0.9928460121154785, + -0.10255628625104138, + -0.2971535044949358 + ], + [ + -0.07857507559282237, + 0.10721784085035324, + 0.9911257978516268, + 0.02475636756796365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9950446133088116, + -0.05105226859450342, + 0.08532215524354697, + -0.15704017385471006 + ], + [ + 0.059792453680811763, + 0.992857873439789, + -0.10323828398279318, + -0.297990417521363 + ], + [ + -0.07944222778625101, + 0.10782832652330401, + 0.9909904103195265, + 0.024270064140953285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9949981668385497, + -0.04928652197122574, + 0.0868880883017545, + -0.15957080819130415 + ], + [ + 0.05812023127742299, + 0.993058443069458, + -0.10225937967722233, + -0.29954629046117226 + ], + [ + -0.0812449392865097, + 0.10679785162210464, + 0.9909558372660509, + 0.024187353819959054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9948847544196542, + -0.04813767969608307, + 0.08880922828742314, + -0.16156267838345217 + ], + [ + 0.057346929230650864, + 0.9928970336914062, + -0.10424393094391911, + -0.29948201981995054 + ], + [ + -0.0831603596097124, + 0.1088036373257637, + 0.9905786870969485, + 0.023784793828028575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9948813728997865, + -0.046025775372982025, + 0.08995918241531936, + -0.16376455138587306 + ], + [ + 0.055439459949025556, + 0.992913544178009, + -0.10511507968822922, + -0.2997681887596675 + ], + [ + -0.0844836901384924, + 0.10956432670354843, + 0.990382822446465, + 0.023474041264797345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.994881851464583, + -0.04468473792076111, + 0.09062773896611748, + -0.16528470549430868 + ], + [ + 0.054240535465777256, + 0.9928986430168152, + -0.1058782707614587, + -0.2992466702826348 + ], + [ + -0.08525301959432639, + 0.11025205999612808, + 0.9902406025236842, + 0.022391772517470928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9948688073150204, + -0.043737899512052536, + 0.0912307427473052, + -0.16661495773444646 + ], + [ + 0.05327853225593852, + 0.9930534362792969, + -0.1049106449211822, + -0.2997426803298046 + ], + [ + -0.08600843943496574, + 0.10923296958208084, + 0.9902882050714769, + 0.021817554831092226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9947947467232982, + -0.043049197643995285, + 0.0923587783581521, + -0.167901316618716 + ], + [ + 0.05282687910330984, + 0.9929428100585938, + -0.10617841953545677, + -0.2985459901023088 + ], + [ + -0.08713609871816569, + 0.11050476878881454, + 0.9900485052719898, + 0.02120388508710288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9946557060559238, + -0.04287129640579224, + 0.09392563617631539, + -0.1696261779603063 + ], + [ + 0.05276898684786653, + 0.9930112957954409, + -0.10556537848393699, + -0.29717479423202275 + ], + [ + -0.08874350007924754, + 0.1099575757980347, + 0.9899666504588843, + 0.021127485545769636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9945736239795973, + -0.04308192804455757, + 0.09469579466736323, + -0.17055543898164682 + ], + [ + 0.05294805143648713, + 0.9931380152702332, + -0.10427532359878525, + -0.2966360300304038 + ], + [ + -0.08955361051995614, + 0.10872344672679901, + 0.9900299697708573, + 0.020556781442417425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9943789813721434, + -0.04296252131462097, + 0.09677103724855905, + -0.17180532324064177 + ], + [ + 0.0530674921278884, + 0.9931192398071289, + -0.10439372943924545, + -0.2952611765545102 + ], + [ + -0.09162016200473554, + 0.10894232243299484, + 0.9898168364664447, + 0.020248287107115386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9941156338748716, + -0.042976971715688705, + 0.09943396991830812, + -0.17328027646118382 + ], + [ + 0.053432717359405496, + 0.9930356740951538, + -0.10500069429477285, + -0.2937869300283981 + ], + [ + -0.09422886257711273, + 0.10969585180282593, + 0.9894886240744447, + 0.01999213738544528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9939230565062661, + -0.04291440546512604, + 0.10136747765989196, + -0.1740966907873966 + ], + [ + 0.05363779361240203, + 0.9929664134979248, + -0.10554941571215086, + -0.2924939102998323 + ], + [ + -0.0961249034198671, + 0.11034512519836426, + 0.9892340336083496, + 0.019795918516265283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9936012906256494, + -0.0427565798163414, + 0.10453890272935984, + -0.17581982341223726 + ], + [ + 0.05393188577303449, + 0.9928461909294128, + -0.10652574974872488, + -0.29100759005585825 + ], + [ + -0.0992363812435925, + 0.11148210614919662, + 0.9887992239379176, + 0.019639647793682907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9934680012153752, + -0.042631078511476524, + 0.10584861250571398, + -0.17680230455505638 + ], + [ + 0.05394702357955276, + 0.9928528666496279, + -0.10645630040611896, + -0.2903398361718855 + ], + [ + -0.10055374283579731, + 0.11147113889455798, + 0.9886673489163418, + 0.018844142062232543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9932066339223643, + -0.04254497960209847, + 0.10830729758728347, + -0.17830198065220157 + ], + [ + 0.05418382014636482, + 0.9927929639816286, + -0.1068937764761654, + -0.2899976773210108 + ], + [ + -0.10297893509495235, + 0.11203611642122271, + 0.9883538190159514, + 0.017988861361412152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9930901765209155, + -0.04213448613882065, + 0.10952882139155287, + -0.1790533508325874 + ], + [ + 0.054056806559591566, + 0.9926509857177734, + -0.10826777881612053, + -0.28855213347889197 + ], + [ + -0.10416208583120729, + 0.11344044655561447, + 0.98806960122581, + 0.01671763028645777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.992880960367364, + -0.040995329618453986, + 0.11183367001563524, + -0.18073587728020843 + ], + [ + 0.05325001199590768, + 0.9926261901855471, + -0.10889278371625744, + -0.2872208730136209 + ], + [ + -0.10654493623571451, + 0.11407271027565005, + 0.9877426619833554, + 0.015307985232337777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.992745107035703, + -0.04069157689809799, + 0.11314330401335994, + -0.1820361234081202 + ], + [ + 0.05326154715150852, + 0.9924597144126892, + -0.1103944332868997, + -0.2854102854743705 + ], + [ + -0.10779804215939098, + 0.1156197115778923, + 0.9874267788564183, + 0.014282961329063402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9925010312963819, + -0.04034483805298806, + 0.11538619809478333, + -0.1837783131012344 + ], + [ + 0.05343792702835682, + 0.9921876192092898, + -0.11273053780556914, + -0.2828710898248995 + ], + [ + -0.10993665796855584, + 0.11805117875337603, + 0.9869031423911316, + 0.013767775211702662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9923412364238843, + -0.03972968086600304, + 0.11696331834306813, + -0.1850927178488523 + ], + [ + 0.053178692915126634, + 0.9920324087142947, + -0.11420910806073495, + -0.28070095361116704 + ], + [ + -0.11149390821437634, + 0.1195543706417084, + 0.986547440702549, + 0.013194885689960875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.992136340545969, + -0.03980843350291252, + 0.11866259003768691, + -0.18644002208859736 + ], + [ + 0.05362619943996359, + 0.9918438792228699, + -0.1156282560846969, + -0.27855265515486954 + ], + [ + -0.11309178038015102, + 0.12108241766691208, + 0.9861791472690654, + 0.01220869178469284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9920205210520106, + -0.04002111777663231, + 0.11955591772467224, + -0.18768305248706157 + ], + [ + 0.05331310462075205, + 0.992485761642456, + -0.11013510910023887, + -0.27953388796309325 + ], + [ + -0.1142498105994014, + 0.11563017964363098, + 0.9866998775364728, + 0.011592106566556515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9917793878499662, + -0.04021535813808441, + 0.12147596154813217, + -0.18937855862963174 + ], + [ + 0.053502726703450784, + 0.9926903247833252, + -0.10818192152323529, + -0.27769781836194657 + ], + [ + -0.11623743272603991, + 0.11379189044237137, + 0.9866814470308121, + 0.011686322893884772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9914518895411581, + -0.037764713168144226, + 0.1248879883108134, + -0.19173668782221515 + ], + [ + 0.05191619075617124, + 0.9923425912857056, + -0.11207540455958023, + -0.27273909105720234 + ], + [ + -0.11969917674990216, + 0.11760107427835464, + 0.9858205438091383, + 0.011857777697476625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9910915374058378, + -0.03930175304412842, + 0.1272515817947995, + -0.1934992320252671 + ], + [ + 0.05203122948263723, + 0.9937949180603027, + -0.09830786648597829, + -0.27681884961551406 + ], + [ + -0.12259830821443439, + 0.10405314713716507, + 0.9869866519569505, + 0.013002687564325162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9909810425050223, + -0.03837873786687851, + 0.12838877583790742, + -0.1943398394991439 + ], + [ + 0.05089108961672284, + 0.994114100933075, + -0.09564121073525406, + -0.2747629948844991 + ], + [ + -0.12396250602401579, + 0.10131246596574783, + 0.9871013758194794, + 0.01428073102579561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9907735137016307, + -0.0366857647895813, + 0.1304682452228868, + -0.19546168919699852 + ], + [ + 0.049395759323651436, + 0.99419766664505, + -0.0955566582546691, + -0.27069604528510494 + ], + [ + -0.12620565559595684, + 0.10111959278583527, + 0.9868368346997505, + 0.01555538396783478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9893538170440808, + -0.037329081445932395, + 0.14066136698454232, + -0.19968827677049766 + ], + [ + 0.049891639776121564, + 0.9949696063995364, + -0.08686949572328313, + -0.2718783523848024 + ], + [ + -0.13671101639365466, + 0.09296248853206636, + 0.9862393534375266, + 0.015622993293807919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.987468894974328, + -0.03450113534927368, + 0.15399640389628816, + -0.20559148624945695 + ], + [ + 0.046576660339533005, + 0.996056854724884, + -0.07550769136986922, + -0.2738791606580395 + ], + [ + -0.15078406125503432, + 0.08173413574695587, + 0.985182052166849, + 0.014076595426369794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9884659131290641, + -0.032065413892269135, + 0.14800994152460487, + -0.1995176111652731 + ], + [ + 0.0379789559255, + 0.998582124710083, + -0.03730125413884721, + -0.2928310019961269 + ], + [ + -0.14660400506644616, + 0.04249228164553642, + 0.9882822031442335, + -0.004939303980039295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9879396683936795, + -0.033372923731803894, + 0.15119987334399107, + -0.20101132215708825 + ], + [ + 0.03909494246352221, + 0.9986212849617004, + -0.03502999947146786, + -0.29018940549847083 + ], + [ + -0.14982237273284466, + 0.04051867499947548, + 0.9878823512968657, + -0.0015874882368421411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9875407071771064, + -0.032617829740047455, + 0.1539460012140122, + -0.2035556772399896 + ], + [ + 0.037746140352274075, + 0.9988215565681458, + -0.03050717949449292, + -0.2877411208707173 + ], + [ + -0.15276951811688846, + 0.035937950015068054, + 0.9876082178275952, + 0.003720962604568865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9874188833718232, + -0.031778447329998016, + 0.1549004046931061, + -0.20498776877383704 + ], + [ + 0.036943836423220106, + 0.9988492727279663, + -0.030581985064744178, + -0.282540952391177 + ], + [ + -0.1537503117616109, + 0.03591984137892723, + 0.9874566642655729, + 0.010239079550053092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9868751636889622, + -0.033016450703144073, + 0.1580738801991883, + -0.2080799404267927 + ], + [ + 0.03766302887902789, + 0.9989393353462219, + -0.026489338506802344, + -0.2811362971764515 + ], + [ + -0.15703162897720774, + 0.03209521248936653, + 0.9870718982670059, + 0.017580320933185282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9869167785077826, + -0.03482842445373536, + 0.15742386301369996, + -0.2099667107363774 + ], + [ + 0.03903540444553032, + 0.9989565014839175, + -0.023710603142547658, + -0.2792129810965499 + ], + [ + -0.1564337788442107, + 0.029545497149229057, + 0.9872464255130172, + 0.023150054991739753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9870124299474178, + -0.034312717616558075, + 0.15693658593631063, + -0.2121127762371843 + ], + [ + 0.03795648996336144, + 0.9990735650062561, + -0.020279489349658255, + -0.2775297109259612 + ], + [ + -0.15609535383775763, + 0.025972869247198105, + 0.9874004589420657, + 0.03064207929991764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9869462382970288, + -0.03393792733550072, + 0.1574337700746332, + -0.21296341582480002 + ], + [ + 0.03745791375599194, + 0.9991090297698975, + -0.019444742152473684, + -0.2761760000570192 + ], + [ + -0.15663357537053815, + 0.025088055059313774, + 0.9873380751990919, + 0.037487918834439776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9860439341032529, + -0.032112836837768555, + 0.1633588101166474, + -0.21616146429972286 + ], + [ + 0.036001897889500166, + 0.9991331100463867, + -0.02090156513764882, + -0.273929914812562 + ], + [ + -0.16254598722957458, + 0.026491088792681694, + 0.9863452734959253, + 0.0462166657832224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9857375258900385, + -0.0307228434830904, + 0.16546188478261512, + -0.21788184475943068 + ], + [ + 0.03437781617445429, + 0.9992231130599976, + -0.019270469179531093, + -0.2730555484736621 + ], + [ + -0.16474129273333515, + 0.024683844298124313, + 0.986027871837431, + 0.05267507841566064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9864549192234409, + -0.026527926325798035, + 0.1618731075437436, + -0.223126415014572 + ], + [ + 0.03787259274132291, + 0.9970065951347351, + -0.06740519386210796, + -0.24905334918047675 + ], + [ + -0.1596004484017363, + 0.07262273877859116, + 0.9845067896751428, + 0.08615139933155765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9852570534259881, + -0.029704339802265174, + 0.16848190708654937, + -0.2217188253809961 + ], + [ + 0.03271859817914026, + 0.999349892139435, + -0.015142280576373712, + -0.2740042352531569 + ], + [ + -0.1679225908099238, + 0.020431531593203548, + 0.9855884320989988, + 0.06378846215520172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9849954696905827, + -0.030931716784834862, + 0.16978548032241458, + -0.22346409778062587 + ], + [ + 0.034152071284456936, + 0.9992873072624207, + -0.016078894272080126, + -0.2743374056117844 + ], + [ + -0.1691671273919122, + 0.02163616381585598, + 0.9853498545313168, + 0.06770787207464685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9849364999102239, + -0.03265747055411339, + 0.1698045231244253, + -0.225335402088513 + ], + [ + 0.03566564862706818, + 0.9992557168006897, + -0.014694742841406096, + -0.2748294533251471 + ], + [ + -0.16919825232913002, + 0.020529577508568764, + 0.9853682177909207, + 0.07018599137592327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9851160124572949, + -0.03383787348866463, + 0.16852743746665988, + -0.2270204901674182 + ], + [ + 0.03653388726439159, + 0.9992488622665405, + -0.012921676118098477, + -0.27630793186618224 + ], + [ + -0.16796360157457935, + 0.01888631284236908, + 0.9856122620507178, + 0.07245163533324983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9850088603986066, + -0.03401286154985428, + 0.16911717619920863, + -0.2288087114425475 + ], + [ + 0.03711217353064717, + 0.9991955161094666, + -0.015198485982365527, + -0.27703512502687194 + ], + [ + -0.16846419071198251, + 0.021246949210762978, + 0.9854787703503984, + 0.0740728264557692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9845356984784667, + -0.033431682735681534, + 0.17196462574484778, + -0.23122394433756743 + ], + [ + 0.03706355762849332, + 0.9991516470909119, + -0.0179517980138844, + -0.2780351052047441 + ], + [ + -0.17121857051042705, + 0.02404780499637127, + 0.9849395341495459, + 0.0769502961479446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.984084498149331, + -0.03323542326688767, + 0.17456545834377102, + -0.23282116898234936 + ], + [ + 0.03752017351072549, + 0.9990687966346743, + -0.021301731299454497, + -0.2785668248378065 + ], + [ + -0.17369492632024883, + 0.027512429282069213, + 0.9844150968023369, + 0.07820773372229212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9837855200438912, + -0.032415721565485, + 0.17639522370118402, + -0.233860355004275 + ], + [ + 0.037353028287612194, + 0.998995840549469, + -0.02474101851791469, + -0.2788623720192552 + ], + [ + -0.17541608892789773, + 0.030928753316402435, + 0.9840084163182434, + 0.07980878903364648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9828048018427056, + -0.03173929825425149, + 0.18189933400634808, + -0.23653526982362003 + ], + [ + 0.03725194929011042, + 0.9989418983459475, + -0.026969190482542756, + -0.2796746572856547 + ], + [ + -0.18085088537090685, + 0.033281557261943824, + 0.9829472601032047, + 0.081996256256015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9820441941095973, + -0.03061579167842865, + 0.1861501001992739, + -0.2379464422889695 + ], + [ + 0.03677772917115846, + 0.9988808631896973, + -0.029738504744377024, + -0.28016786143501005 + ], + [ + -0.18503130368263795, + 0.0360507071018219, + 0.9820711357128797, + 0.08437639392220297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.981603303869627, + -0.029943782836198807, + 0.18856907588281685, + -0.23896719128052465 + ], + [ + 0.0366764156208939, + 0.9988045692443848, + -0.03231550107149979, + -0.2800229725640378 + ], + [ + -0.18737601148155247, + 0.03863704204559326, + 0.9815281137992058, + 0.08527592203121546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9812438601525433, + -0.030849430710077286, + 0.19028609740724708, + -0.24031709465822979 + ], + [ + 0.037623659775734536, + 0.9987766146659851, + -0.03209007584379345, + -0.2800077952167578 + ], + [ + -0.18906333245450105, + 0.038647450506687164, + 0.9812040474593068, + 0.0869455220910447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9808611426365185, + -0.030617974698543556, + 0.192286042986117, + -0.2417803454952983 + ], + [ + 0.03722450227389674, + 0.9988309741020205, + -0.030838884689708745, + -0.28035749598656445 + ], + [ + -0.19111703287403733, + 0.037406418472528465, + 0.9808542326760077, + 0.08760522029900925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9804779946150776, + -0.030590660870075233, + 0.194234755186711, + -0.2439284409244207 + ], + [ + 0.03754023699734835, + 0.9987762570381167, + -0.032198932659279714, + -0.28064949295978026 + ], + [ + -0.19301207117338914, + 0.038861960172653205, + 0.9804265062409683, + 0.08869812267261822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9804221168374354, + -0.030326236039400108, + 0.1945580289881897, + -0.24556350957714138 + ], + [ + 0.03804118053034966, + 0.9986260533332827, + -0.03603986607261962, + -0.28035525599392525 + ], + [ + -0.19319775629011993, + 0.04273549839854241, + 0.9802286736312085, + 0.08872557950220807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9801408602741153, + -0.030788790434598923, + 0.19589785554978395, + -0.24826346353655898 + ], + [ + 0.039016230245899286, + 0.9985051155090332, + -0.038278298705293215, + -0.280697359135798 + ], + [ + -0.1944264777076133, + 0.04516132175922394, + 0.9798769599857199, + 0.08920029042581416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9806437472872153, + -0.029474642127752304, + 0.19356932740310362, + -0.2511506149041228 + ], + [ + 0.038512623889989994, + 0.998328447341919, + -0.04309458807692853, + -0.28091032536559385 + ], + [ + -0.19197556371194432, + 0.049715302884578705, + 0.9801396588854917, + 0.08922419427197026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9808834292492484, + -0.026840889826416976, + 0.19273612743043758, + -0.25468207863478637 + ], + [ + 0.03681094174233182, + 0.9981526136398318, + -0.04833518833324261, + -0.28158982688743595 + ], + [ + -0.1910827249325794, + 0.05450598523020746, + 0.9800594602574825, + 0.08778813624369756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.981942432546913, + -0.02453448437154293, + 0.18758233864457272, + -0.257560697181908 + ], + [ + 0.03607065241739629, + 0.9976451992988586, + -0.0583348865330992, + -0.2804606683484602 + ], + [ + -0.18570940791832968, + 0.06404772400856018, + 0.9805151457867233, + 0.08780591794553605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9821906389311609, + -0.019333699718117714, + 0.18688976792740966, + -0.26185955165461233 + ], + [ + 0.03180475506616177, + 0.9974453449249268, + -0.06396296732646872, + -0.27934759480275007 + ], + [ + -0.18517567585779862, + 0.06876780837774277, + 0.980296353927982, + 0.08751430947181485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9833252090093606, + -0.01553149335086346, + 0.1811912647107179, + -0.2652691444201308 + ], + [ + 0.02857828384444278, + 0.9971642494201662, + -0.06961868574866946, + -0.27853842980098564 + ], + [ + -0.17959616620054036, + 0.07363595068454744, + 0.9809806206618101, + 0.08739168620071286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9835442335201071, + -0.010184193029999733, + 0.18038019587490312, + -0.2702252368937443 + ], + [ + 0.024498051166361518, + 0.996706485748291, + -0.07730485768905128, + -0.2768706013960791 + ], + [ + -0.17899881676293616, + 0.08045170456171036, + 0.9805543932267503, + 0.08777904870308005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840722531269234, + -0.00522161228582263, + 0.17769227848530864, + -0.27432641592950674 + ], + [ + 0.020140298890844704, + 0.9964075088500977, + -0.08225825165640563, + -0.2743394922720268 + ], + [ + -0.17662438934202684, + 0.08452684432268143, + 0.9806421345935546, + 0.08819543357031695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/orbit_right/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a66c8d0866db802721c22974f226d6bc37222155 --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/orbit_right/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999226386430654, + -0.010517086833715439, + 0.006640959741706507, + 0.012492012872342839 + ], + [ + 0.010528428222194401, + 0.999943196773529, + -0.001675285361449963, + -0.007254119888110838 + ], + [ + -0.00662296285902182, + 0.0017450745217502117, + 0.9999765479888875, + 8.916562095384644e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997459391594489, + -0.020598368719220165, + 0.009150731101723153, + 0.027729765244100257 + ], + [ + 0.020613565909907833, + 0.9997862577438357, + -0.001569494026803953, + -0.013740244578986874 + ], + [ + -0.009116445813900687, + 0.0017577244434505705, + 0.999956875084259, + 0.0037694680736801225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995770348489761, + -0.02704532817006111, + 0.010688431933490079, + 0.04461556386253922 + ], + [ + 0.027047150550262716, + 0.9996341466903687, + -2.5987966973666236e-05, + -0.019718581764659234 + ], + [ + -0.010683818630700509, + 0.0003150685515720397, + 0.9999428683388407, + 0.0075730132566257345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999347083341572, + -0.03251559287309647, + 0.015752261597895903, + 0.05788472236683926 + ], + [ + 0.032452489810014015, + 0.999464273452759, + 0.004245357706659939, + -0.028335257589365614 + ], + [ + -0.01588186106912465, + -0.0037313858047127732, + 0.9998669047687597, + 0.013561598639386583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999003074513539, + -0.04022211953997612, + 0.019366413799204875, + 0.06855416282906636 + ], + [ + 0.04004975318803952, + 0.9991552829742432, + 0.0092074553512315, + -0.03893416235785726 + ], + [ + -0.019720395946410788, + -0.008422656916081905, + 0.9997700612059784, + 0.02047220493494572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9986553047925499, + -0.04740295559167862, + 0.020988713277727954, + 0.07973119053533984 + ], + [ + 0.04707194820071138, + 0.9987634420394897, + 0.0159939153142018, + -0.05497010225759448 + ], + [ + -0.021720917896624958, + -0.014984428882598877, + 0.9996517719346456, + 0.027377321247365034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9982904728368754, + -0.052909329533576965, + 0.024835239372253893, + 0.08832470682882837 + ], + [ + 0.05241087641323972, + 0.9984190464019775, + 0.020309942580099768, + -0.06765432779720902 + ], + [ + -0.025870560686384606, + -0.018973583355545998, + 0.9994852026488424, + 0.034372580474689295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997943148420413, + -0.05675999820232393, + 0.02979524761782261, + 0.09359823093919169 + ], + [ + 0.05591199501474291, + 0.9980270862579348, + 0.028562402574455945, + -0.08504194233678114 + ], + [ + -0.031357666767261656, + -0.026837741956114776, + 0.9991478818780138, + 0.041822953219462486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9976489299998316, + -0.0600983425974846, + 0.032937085353253036, + 0.09874909292113117 + ], + [ + 0.05894076711994891, + 0.9976457357406618, + 0.03505669289735607, + -0.10036756557708112 + ], + [ + -0.034966390080401984, + -0.033032931387424476, + 0.9988424335010515, + 0.049133995440657455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9974357611346897, + -0.06270180642604828, + 0.03450246679514331, + 0.10435744216791555 + ], + [ + 0.061053684006506855, + 0.9970315098762512, + 0.04691109228983541, + -0.12629587419392932 + ], + [ + -0.03734145768367374, + -0.04468429461121559, + 0.9983030319409046, + 0.05528346550226526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.997157935543916, + -0.06547611951828003, + 0.037268140317945536, + 0.10877408757517015 + ], + [ + 0.06369421888383964, + 0.9968552589416504, + 0.04714527770875432, + -0.14590843542072635 + ], + [ + -0.04023783400941752, + -0.044637519866228104, + 0.9981925417588381, + 0.06010228215473532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9968608494897245, + -0.06692962348461151, + 0.0422951075184287, + 0.11085613271072359 + ], + [ + 0.06491738614113512, + 0.9967698454856873, + 0.047282844390964446, + -0.16229570452560177 + ], + [ + -0.04532310992059823, + -0.044388726353645325, + 0.9979856803520938, + 0.06465999757736676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9966126634796809, + -0.06787350028753282, + 0.04643756635383951, + 0.115516424002953 + ], + [ + 0.06555673873578706, + 0.9966095685958865, + 0.04971634800980723, + -0.1813723843293532 + ], + [ + -0.04965453888069394, + -0.04650364443659783, + 0.9976832518528932, + 0.0693177917971216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9962357316045345, + -0.06883535534143448, + 0.05268882819526432, + 0.11871279648260394 + ], + [ + 0.06629367702902556, + 0.9966179728507996, + 0.04855723651928855, + -0.19898151777107692 + ], + [ + -0.05585309309835195, + -0.044881515204906464, + 0.9974297379433845, + 0.07218642494558809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9955714660686658, + -0.0728846862912178, + 0.0593741011187225, + 0.11153242777536135 + ], + [ + 0.07054573125328535, + 0.9966826438903809, + 0.040583012871434045, + -0.2018887870845513 + ], + [ + -0.06213501873200261, + -0.03621470183134079, + 0.9974105377663797, + 0.07255257672051993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9954830366646726, + -0.07891405373811722, + 0.052783300187203556, + 0.11216311107520871 + ], + [ + 0.07642950572616652, + 0.9959408640861511, + 0.04754264558241519, + -0.20987641803662482 + ], + [ + -0.056320826314686045, + -0.043293699622154236, + 0.9974736272248989, + 0.07262142881850546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9956736701585155, + -0.082437664270401, + 0.042872320027218046, + 0.11497973282827265 + ], + [ + 0.08018612629612783, + 0.9954317212104797, + 0.05182503869997183, + -0.21151901602621442 + ], + [ + -0.04694879723850093, + -0.04816306009888649, + 0.9977355123156134, + 0.07188986935625324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9954897646061929, + -0.08652183413505554, + 0.03891130546868897, + 0.11413629323011021 + ], + [ + 0.08414249722933619, + 0.9946987628936768, + 0.05911322959865585, + -0.22203729460163482 + ], + [ + -0.04381961878423622, + -0.055572524666786194, + 0.997492625151015, + 0.07129979132593331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9955835969442918, + -0.08843912184238435, + 0.03149259786747138, + 0.11727505479455555 + ], + [ + 0.08649760591108734, + 0.9945366978645327, + 0.058437735484661364, + -0.2238407693395497 + ], + [ + -0.03648872731918958, + -0.055455621331930174, + 0.9977941857856891, + 0.06755976840084374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9955533876614262, + -0.09020979702472687, + 0.02712305243717, + 0.12067884516071131 + ], + [ + 0.08833101909782638, + 0.9940381050109863, + 0.06392094111222797, + -0.2309738806936112 + ], + [ + -0.0327276453203273, + -0.06124090030789375, + 0.9975863237857828, + 0.06381140438320505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9955905405365664, + -0.09098882973194122, + 0.02281512639039599, + 0.12725433737219635 + ], + [ + 0.08934112127955157, + 0.9938741326332092, + 0.06505633850890548, + -0.23934668041922155 + ], + [ + -0.028594762699245962, + -0.06273113936185837, + 0.997620747485659, + 0.05917220486983904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9955967469258676, + -0.09030290693044662, + 0.025150206517541608, + 0.12583436252950023 + ], + [ + 0.08869832015957171, + 0.9943146109580994, + 0.05891550357429298, + -0.2376854146267009 + ], + [ + -0.030327456603023207, + -0.0564252994954586, + 0.9979460913727928, + 0.052695939497125345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9956004720205787, + -0.09022460132837296, + 0.02528374141097691, + 0.12723496892105773 + ], + [ + 0.08862554745845472, + 0.9943462014198303, + 0.05849058362972903, + -0.23908250410900717 + ], + [ + -0.030418084981620137, + -0.05599246546626091, + 0.9979677467975405, + 0.045119169229853165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9955121646422385, + -0.09103531390428543, + 0.02584793108543312, + 0.1277268169633452 + ], + [ + 0.08934693485756148, + 0.9941729307174683, + 0.060309936728521606, + -0.24045126465841135 + ], + [ + -0.03118764995464893, + -0.05772984027862549, + 0.9978449564325754, + 0.0384711556927514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.995478000479785, + -0.0918109491467476, + 0.024377459224179065, + 0.12897007271608016 + ], + [ + 0.09010767403876142, + 0.9938987493515017, + 0.06360731779806313, + -0.24275241232386613 + ], + [ + -0.030068574907032002, + -0.06112308800220491, + 0.9976772449345945, + 0.03312047257262982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954930494848042, + -0.09156160056591035, + 0.024699816194071324, + 0.1300894945997666 + ], + [ + 0.08976520473192542, + 0.9937722682952883, + 0.06602211352309875, + -0.2452278350223607 + ], + [ + -0.03059108908462995, + -0.0635073632001877, + 0.997512414931159, + 0.027530862883026436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9955374956475446, + -0.09126362204551697, + 0.02400154257311443, + 0.1306848753516768 + ], + [ + 0.08947722620473961, + 0.9937202334403992, + 0.06718617098913483, + -0.2459507321283239 + ], + [ + -0.0299824653304832, + -0.06473875790834427, + 0.9974517130594653, + 0.021872406415595923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9955120584400107, + -0.09198590368032457, + 0.022233008310326315, + 0.1330234381383209 + ], + [ + 0.09024251110161427, + 0.9934807419776919, + 0.06965815484518441, + -0.24857450795243163 + ], + [ + -0.02849563217625658, + -0.06733916699886323, + 0.997323119354184, + 0.016637449464072772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.995550136650281, + -0.09210819005966187, + 0.019899337187472235, + 0.13607475318923654 + ], + [ + 0.09050350794592697, + 0.9934073686599731, + 0.0703627313004283, + -0.24849441439648945 + ], + [ + -0.02624913721077708, + -0.0682486742734909, + 0.9973229735700759, + 0.012005367862130044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9956528092600859, + -0.09154397249221802, + 0.0171805029349316, + 0.13666406719753707 + ], + [ + 0.09003423945279623, + 0.9931671619415283, + 0.07424848532033355, + -0.25263712966117813 + ], + [ + -0.02386011168797627, + -0.07237887382507324, + 0.9970917405848397, + 0.008192246866101566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995726483387519, + -0.09124509245157243, + 0.014253442468875005, + 0.13962991030114152 + ], + [ + 0.08998373947107047, + 0.9932965040206911, + 0.07256028083661172, + -0.2524449247840449 + ], + [ + -0.020778665639247913, + -0.07096761465072633, + 0.997262153214319, + 0.003375287679966394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9956902042423723, + -0.09172139316797256, + 0.013718532183822317, + 0.1393825825575463 + ], + [ + 0.09048492740252455, + 0.9932079315185547, + 0.0731467153701717, + -0.25341433793188667 + ], + [ + -0.020334481901234425, + -0.07159015536308289, + 0.9972268252794844, + -0.0013204448662919631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9957720462881359, + -0.09110751003026962, + 0.011721814994278539, + 0.14086682201219675 + ], + [ + 0.09003279132228047, + 0.9933171272277832, + 0.07221629660881783, + -0.2529208519234787 + ], + [ + -0.018222929297324112, + -0.07085562497377396, + 0.9973200923527402, + -0.0057229388787682495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9957678994087763, + -0.09116356819868088, + 0.011640909043235713, + 0.13806430966760358 + ], + [ + 0.09010313875541609, + 0.9933453798294067, + 0.07173815297913304, + -0.2522560565355301 + ], + [ + -0.018103348711601606, + -0.07038567215204239, + 0.9973555913399971, + -0.01080930124555941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9957604138447114, + -0.0918126255273819, + 0.0056260916569212, + 0.14248217975513466 + ], + [ + 0.09116832799546867, + 0.9932050704956055, + 0.0723326100295552, + -0.25265941863059915 + ], + [ + -0.012228906614706861, + -0.07151302695274353, + 0.9973647088302131, + -0.01655447860567753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9957114240737678, + -0.09244798123836517, + 0.003485758836432077, + 0.14304764720035867 + ], + [ + 0.09196447437800516, + 0.9931970834732056, + 0.07142893459505456, + -0.2505269647620051 + ], + [ + -0.010065507553917939, + -0.07080203294754028, + 0.9974396135395437, + -0.021538838944828352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9957645746788826, + -0.0919349193572998, + 0.0009141427726813702, + 0.143001456683642 + ], + [ + 0.09164264349041182, + 0.9932990670204163, + 0.07041716149483403, + -0.25009010674191673 + ], + [ + -0.00738181850592445, + -0.07003513723611832, + 0.9975171938302274, + -0.025494306193736792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957021409763767, + -0.0926131159067154, + 0.0001955317216957007, + 0.14122692845607618 + ], + [ + 0.09237984937296313, + 0.9933397173881531, + 0.06886341752380033, + -0.24671730282477325 + ], + [ + -0.0065718879610353895, + -0.06854939460754395, + 0.9976260837479589, + -0.02990283204383414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9955584505386127, + -0.094053253531456, + -0.004167859361009446, + 0.143596253596746 + ], + [ + 0.09411504372579778, + 0.9931328296661377, + 0.06949492039197905, + -0.24476888497043972 + ], + [ + -0.002396981813233027, + -0.06957852095365524, + 0.9975735894258605, + -0.03375127637473071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9954665011025323, + -0.09483803808689117, + -0.007227895877413111, + 0.1436561758886969 + ], + [ + 0.09511206887005702, + 0.9929261207580566, + 0.0710734390053795, + -0.24498446779639277 + ], + [ + 0.00043629454616104417, + -0.07143869251012802, + 0.9974448807316884, + -0.03561950419580467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9953110903149538, + -0.09631174057722092, + -0.008940446028125612, + 0.14190614564896517 + ], + [ + 0.09670348005088907, + 0.9928075671195984, + 0.07058041051292575, + -0.24292830716595615 + ], + [ + 0.002078420508993074, + -0.07111404091119766, + 0.9974660474115382, + -0.038654535464871666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9951020650161428, + -0.0982501283288002, + -0.010899023172254932, + 0.14071178339758883 + ], + [ + 0.09878446421580798, + 0.9924505949020386, + 0.07268736951347941, + -0.2443825631153815 + ], + [ + 0.0036752023338446375, + -0.07340800017118454, + 0.9972952494457071, + -0.040334047461585476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9950738754393371, + -0.098293736577034, + -0.012897291469548622, + 0.14024316533489695 + ], + [ + 0.0989605697388419, + 0.9926104545593262, + 0.07022303884909303, + -0.24091224564252425 + ], + [ + 0.005899494780451138, + -0.0711534395813942, + 0.997447937941241, + -0.041237638158899845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9949463375838745, + -0.09926310926675799, + -0.01511978964048153, + 0.1387103119106967 + ], + [ + 0.1000945665436577, + 0.9924200773239138, + 0.07129829823801158, + -0.241347278126208 + ], + [ + 0.007927895258655381, + -0.07245139777660371, + 0.99734043803953, + -0.04170609097871571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9947493908609817, + -0.10032722353935242, + -0.02020090324611105, + 0.14071169198180106 + ], + [ + 0.10152427002626059, + 0.9922818541526794, + 0.07120058739135302, + -0.24073905303434523 + ], + [ + 0.01290163322488344, + -0.07287762314081192, + 0.9972574482921931, + -0.04231918659397565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9946734080973493, + -0.10104633867740631, + -0.020356886489272107, + 0.13740223855998854 + ], + [ + 0.10228487117067875, + 0.9920234084129333, + 0.07367059186984279, + -0.244469477273746 + ], + [ + 0.012750361701147753, + -0.07536038756370544, + 0.997074838576398, + -0.04218344520263863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.994683976842476, + -0.10082564502954483, + -0.020929124453942013, + 0.13375280169152381 + ], + [ + 0.10208253712149726, + 0.9921823740005493, + 0.07178659342982317, + -0.24375342082507287 + ], + [ + 0.013527576169043223, + -0.07354146987199783, + 0.9972004239415052, + -0.04213401482050284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946380474033779, + -0.10098015516996384, + -0.022318437165798108, + 0.1302665959752842 + ], + [ + 0.10234632424026414, + 0.992119312286377, + 0.07228075047259283, + -0.24667883451213976 + ], + [ + 0.014843630624037426, + -0.07417739927768707, + 0.99713457293102, + -0.04074958897781957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9946801485529675, + -0.09963577985763553, + -0.026155210028146702, + 0.12893841449656 + ], + [ + 0.10125117527715623, + 0.9923818707466128, + 0.07018835483222198, + -0.24861071733334206 + ], + [ + 0.018962694618139, + -0.07246320694684984, + 0.997190809214973, + -0.04093357783985379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9947557681004537, + -0.0985749289393425, + -0.027275740049920904, + 0.1232868237188743 + ], + [ + 0.10024538455485442, + 0.9925829768180847, + 0.06877467360530327, + -0.2530191343511945 + ], + [ + 0.020293981609442454, + -0.07114826887845993, + 0.9972592923267238, + -0.039955345918545826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9949985609672626, + -0.09562221169471741, + -0.02888357139941515, + 0.11890960539268884 + ], + [ + 0.09734948506341962, + 0.9930660724639893, + 0.06590000466534113, + -0.2565373539686731 + ], + [ + 0.022381783206212293, + -0.06838221102952957, + 0.9974080881884253, + -0.039712071485552086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9951099524514484, + -0.0910915955901146, + -0.03819058980680631, + 0.12809569343968946 + ], + [ + 0.09329104155510332, + 0.9938035607337952, + 0.06042582802928307, + -0.2558846283360089 + ], + [ + 0.032449661978119694, + -0.06369318068027496, + 0.9974418436876658, + -0.03642867827731388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9952618710207431, + -0.08988089114427567, + -0.037083649666196136, + 0.11578877130633952 + ], + [ + 0.09198504357325485, + 0.993975818157196, + 0.059589019499159124, + -0.2623207718343544 + ], + [ + 0.03150433885126392, + -0.06271781772375107, + 0.9975339183812562, + -0.03806562079128958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954771468551316, + -0.08694701641798021, + -0.03828160761336372, + 0.10612014822653999 + ], + [ + 0.08906532974938101, + 0.994357228279114, + 0.05762845199671807, + -0.2671103899006839 + ], + [ + 0.03305496784275678, + -0.060777373611927046, + 0.9976038465870616, + -0.0335984207024665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9954343586664708, + -0.07990458607673646, + -0.052208245241119076, + 0.11711600038516527 + ], + [ + 0.08235074434040655, + 0.995517432689667, + 0.0465127887314091, + -0.2633424990171719 + ], + [ + 0.0482576354457192, + -0.05059981718659402, + 0.9975524464301136, + -0.029900042023838856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9961314956436211, + -0.0771116688847542, + -0.04214111820246368, + 0.10455957762140536 + ], + [ + 0.0788956169700678, + 0.9959787130355837, + 0.04244865899396863, + -0.26805536429738724 + ], + [ + 0.03869836491461315, + -0.04560919478535653, + 0.998209515906806, + -0.01608704379454862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960093181526717, + -0.07257442176342012, + -0.0519457128247495, + 0.10818082055427412 + ], + [ + 0.0740309467427034, + 0.9968988895416262, + 0.026684735847214466, + -0.26335136343870696 + ], + [ + 0.04984799812198824, + -0.03042383864521981, + 0.9982933319464866, + -0.021413423134792754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9960461128225572, + -0.06616573035717012, + -0.05928148933554296, + 0.1084619233844671 + ], + [ + 0.06722060054557212, + 0.9976102113723757, + 0.015978204423977488, + -0.2654525160007977 + ], + [ + 0.05808260644009634, + -0.01989996433258057, + 0.9981134476216434, + -0.022552529668464816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9957777343914695, + -0.0626349151134491, + -0.06710840147066995, + 0.10826683722904167 + ], + [ + 0.06314171337460468, + 0.9979896545410156, + 0.0054556166752428295, + -0.26795609590949304 + ], + [ + 0.06663178645804028, + -0.009669921360909939, + 0.9977308000773022, + -0.02482179448632183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9953898293710872, + -0.06131782382726669, + -0.07375139316228363, + 0.10785801807123385 + ], + [ + 0.061164724286875916, + 0.9981182813644409, + -0.004334798172338232, + -0.26957114101392043 + ], + [ + 0.07387840950950116, + -0.0001961699454113841, + 0.9972672102570013, + -0.026530627755813115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9949171174082245, + -0.057653289288282394, + -0.08255930439246975, + 0.10855923436354675 + ], + [ + 0.05646499654170392, + 0.9982656240463257, + -0.016658395939899193, + -0.2687682477312153 + ], + [ + 0.08337652425462518, + 0.011912011541426182, + 0.996446924291925, + -0.02560890659893445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9940681732304838, + -0.05615319684147836, + -0.09314102647155516, + 0.11217427088744214 + ], + [ + 0.05391379752923494, + 0.9981968402862551, + -0.02638954880139307, + -0.26870306219061874 + ], + [ + 0.09445493672226843, + 0.021211424842476848, + 0.9953031558972345, + -0.02653101914260453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9932347307283818, + -0.05791363492608072, + -0.10065195930476671, + 0.11092580012119074 + ], + [ + 0.054365915020166515, + 0.9978113174438479, + -0.03764223567012819, + -0.26735220095353535 + ], + [ + 0.10261166237438708, + 0.03191553801298142, + 0.9942093807987317, + -0.024007311520115922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9925465551095953, + -0.05583849549293518, + -0.10832066892784092, + 0.11077188807079767 + ], + [ + 0.05097063883425924, + 0.9975841045379639, + -0.04720118099923443, + -0.2668095332390739 + ], + [ + 0.11069462338309079, + 0.041328199207782745, + 0.992994817144289, + -0.019788644235347104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9908329601349194, + -0.05872952193021776, + -0.1216588710116612, + 0.11340245368388573 + ], + [ + 0.05208273739254315, + 0.9970081448554995, + -0.05711477573176493, + -0.2651211750488096 + ], + [ + 0.1246492152232666, + 0.05025487393140794, + 0.9909273803945743, + -0.010934546688711879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9892287174697818, + -0.05586419999599457, + -0.13529862163595974, + 0.1145017025352574 + ], + [ + 0.047597962763665645, + 0.9968409538269043, + -0.06358120508194183, + -0.2667323804013778 + ], + [ + 0.13842311738774885, + 0.056456416845321655, + 0.9887626937846166, + 0.007320452565629354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9881852414371388, + -0.05327899754047394, + -0.14370544083841447, + 0.11445511511983537 + ], + [ + 0.04336194130964026, + 0.9965132474899292, + -0.07128189496462418, + -0.26747530879590115 + ], + [ + 0.14700220517429846, + 0.06420837342739105, + 0.9870499777520091, + 0.016501937195104146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9869280750106695, + -0.05003432556986809, + -0.15319765053815182, + 0.1149611448510833 + ], + [ + 0.03815301607565613, + 0.996101438999176, + -0.07953763509693239, + -0.2683313740800058 + ], + [ + 0.15658001412139708, + 0.07265298068523407, + 0.9849894348072302, + 0.02851607839330649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9848436491632219, + -0.05177897959947586, + -0.16553531408176084, + 0.12079838797286276 + ], + [ + 0.036678498540266904, + 0.9949890971183777, + -0.09301297610238583, + -0.26504900399475795 + ], + [ + 0.16952194784302776, + 0.08553165197372437, + 0.9818078395631996, + 0.03110462772878134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9842132073779175, + -0.05447913333773613, + -0.1683935223879167, + 0.12119869429961094 + ], + [ + 0.03805173446216895, + 0.9943310022354126, + -0.09928690975163582, + -0.2659228624061487 + ], + [ + 0.1728479712689958, + 0.09131182730197906, + 0.9807067521318734, + 0.03344911773219611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9842790258247653, + -0.053270947188138976, + -0.16839527807669838, + 0.12042919680270367 + ], + [ + 0.036388519350124424, + 0.9941393733024599, + -0.10179791547245742, + -0.2689315036312549 + ], + [ + 0.17283124030747077, + 0.09406990557909015, + 0.9804489684908276, + 0.03383788518575037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9822000481508428, + -0.057371445000171675, + -0.17886193956684845, + 0.1251771180105875 + ], + [ + 0.037125331969122335, + 0.9927229881286623, + -0.11455454559845146, + -0.2655645764923874 + ], + [ + 0.1841325224610728, + 0.10587516427040103, + 0.9771825062210024, + 0.03682989146002422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9798616641052512, + -0.06205618008971214, + -0.18978987922174637, + 0.12925503503675226 + ], + [ + 0.04059044231511664, + 0.9925392866134644, + -0.11497021329687691, + -0.2689597327986125 + ], + [ + 0.19550852554588394, + 0.10495124757289886, + 0.9750701005271211, + 0.03532967634032012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9807716985084052, + -0.05898837745189668, + -0.18603032634024175, + 0.12695889097160962 + ], + [ + 0.03723913522149952, + 0.9922778606414797, + -0.1183127951755627, + -0.26998779313759375 + ], + [ + 0.19157285434216112, + 0.10911022871732715, + 0.9753947147072601, + 0.039241524646651565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9802119916001318, + -0.05837381258606912, + -0.18914784442695498, + 0.12764541484363115 + ], + [ + 0.036147073179976924, + 0.9922481775283816, + -0.11889910734965749, + -0.27232772582158576 + ], + [ + 0.19462219480931545, + 0.10970918834209445, + 0.9747235981785801, + 0.040018810354914024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9794784672685519, + -0.0572001077234745, + -0.1932618415115631, + 0.12865595506122104 + ], + [ + 0.03475083395627183, + 0.9924509525299072, + -0.1176156227311608, + -0.2756166545221695 + ], + [ + 0.19853052314339814, + 0.10848595201969147, + 0.9740720949213664, + 0.04154282042325097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9787850846031629, + -0.05647700279951097, + -0.1969519265184754, + 0.13025494351985462 + ], + [ + 0.033478292710609356, + 0.9924244284629824, + -0.11820705553051895, + -0.2774203491542665 + ], + [ + 0.20213588996743143, + 0.10910569876432422, + 0.9732610343243167, + 0.04275371481600918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9785325403825127, + -0.05494565516710283, + -0.19863286580943562, + 0.1303553007072138 + ], + [ + 0.03180101874994362, + 0.9925177097320559, + -0.11788684940500861, + -0.2797148970389982 + ], + [ + 0.20362400651068668, + 0.10903939604759219, + 0.9729581947851064, + 0.04326220333890796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9776672329162835, + -0.05419622361660004, + -0.2030506284319526, + 0.1319423139697327 + ], + [ + 0.030550486905228984, + 0.9925639629364014, + -0.11782779494946047, + -0.2810718978677492 + ], + [ + 0.20792656915079777, + 0.10899307578802109, + 0.9720530316269312, + 0.043484509243104916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9770663255469875, + -0.052545998245477676, + -0.20634989339319165, + 0.13355630040325756 + ], + [ + 0.02892911787197537, + 0.9928460121154785, + -0.11584408939306175, + -0.28396988780042764 + ], + [ + 0.21096082512560385, + 0.10721784085035324, + 0.971596582915855, + 0.04413245865736951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9765372216101778, + -0.05105226859450342, + -0.2092097212372333, + 0.13520867051116328 + ], + [ + 0.027010037953914188, + 0.992857873439789, + -0.11620558784590346, + -0.28512362831736865 + ], + [ + 0.2136480725761434, + 0.10782832652330401, + 0.9709415852590747, + 0.04416348289351721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9761834129630864, + -0.04928652197122574, + -0.21127431494753032, + 0.13630740119757978 + ], + [ + 0.025276469412127817, + 0.993058443069458, + -0.11487402713306963, + -0.2870282826217077 + ], + [ + 0.21546947370529806, + 0.10679785162210464, + 0.9706529335825913, + 0.04433471888608565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.975869970433827, + -0.04813767969608307, + -0.21298017375132608, + 0.13794239041125833 + ], + [ + 0.023523943243368803, + 0.9928970336914062, + -0.11662800489208679, + -0.28719168459032407 + ], + [ + 0.21708158834010619, + 0.1088036373257637, + 0.9700708039853935, + 0.0441374467067123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.975428514012334, + -0.046025775372982025, + -0.21545490176713733, + 0.13936608484568971 + ], + [ + 0.02101505961953134, + 0.992913544178009, + -0.1169661530806666, + -0.2880057206760727 + ], + [ + 0.21931154205211809, + 0.10956432670354843, + 0.9694834069849597, + 0.0442172009087682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9748382700518947, + -0.04468473792076111, + -0.21838871922774844, + 0.14145037400670596 + ], + [ + 0.01921160748495238, + 0.9928986430168152, + -0.11740169523859152, + -0.2878083198990453 + ], + [ + 0.22208393545587687, + 0.11025205999612808, + 0.968774098460962, + 0.043699795620101456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9742064558578102, + -0.043737899512052536, + -0.2213792527668313, + 0.14371682012648418 + ], + [ + 0.018166595031110518, + 0.9930534362792969, + -0.11625325906012736, + -0.28848272811509623 + ], + [ + 0.22492610146518974, + 0.10923296958208084, + 0.9682336647924388, + 0.04371136754633499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9736722984692933, + -0.043049197643995285, + -0.22385036797290453, + 0.14603377069453904 + ], + [ + 0.016914821270775354, + 0.9929428100585938, + -0.11738153497131015, + -0.2874234433216635 + ], + [ + 0.2273238037809178, + 0.11050476878881454, + 0.967529136887204, + 0.04356130251839855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9732104271591926, + -0.04287129640579224, + -0.22588373821361213, + 0.14791433972294446 + ], + [ + 0.01662413041042959, + 0.9930112957954409, + -0.11684285770000752, + -0.2859773220026223 + ], + [ + 0.2293143093200727, + 0.1099575757980347, + 0.9671216704056197, + 0.043810394095324744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9725456207250227, + -0.04308192804455757, + -0.22868975196141414, + 0.15056768536518622 + ], + [ + 0.01677883366398599, + 0.9931380152702332, + -0.11573810955527378, + -0.2852534383269716 + ], + [ + 0.23210670530284525, + 0.10872344672679901, + 0.9665948828517058, + 0.04382791526169201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9721891397706671, + -0.04296252131462097, + -0.23022265039920362, + 0.15293322740648238 + ], + [ + 0.016429640623289405, + 0.9931192398071289, + -0.11594945612622527, + -0.2837851448213031 + ], + [ + 0.23362003183219712, + 0.10894232243299484, + 0.9662056223004178, + 0.043696664727033846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.971961753934552, + -0.042976971715688705, + -0.23117819269261097, + 0.15508505419220403 + ], + [ + 0.01615159842088111, + 0.9930356740951538, + -0.11670187211542515, + -0.28216527311847267 + ], + [ + 0.23458367671986294, + 0.10969585180282593, + 0.9658868020280146, + 0.043433562041739815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9715660950021373, + -0.04291440546512604, + -0.23284701162820376, + 0.1578804841240461 + ], + [ + 0.015736367399715408, + 0.9929664134979248, + -0.11734589384313475, + -0.28077640070840076 + ], + [ + 0.2362450934668473, + 0.11034512519836426, + 0.9654078030135061, + 0.043462650435976954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9714629083563543, + -0.0427565798163414, + -0.23330607494154182, + 0.1597982853405913 + ], + [ + 0.015257727385237388, + 0.9928461909294128, + -0.1184212203010988, + -0.27919052722119425 + ], + [ + 0.23670033607791538, + 0.11148210614919662, + 0.965165641495362, + 0.04311745201355521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9709186022201999, + -0.042631078511476524, + -0.23558367106196193, + 0.16241496739629244 + ], + [ + 0.014861707413958862, + 0.9928528666496279, + -0.11841602468413025, + -0.27845769954295957 + ], + [ + 0.23894812607509117, + 0.11147113889455798, + 0.964612862788361, + 0.042742576847787414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9706418845267827, + -0.04254497960209847, + -0.2367366054930028, + 0.164539748005158 + ], + [ + 0.014501515839092965, + 0.9927929639816286, + -0.11896164026003743, + -0.27800683428935885 + ], + [ + 0.24009165544316358, + 0.11203611642122271, + 0.9642634129859267, + 0.04192551514274153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9700798115438591, + -0.04213448613882065, + -0.2391021134427643, + 0.16738955362960373 + ], + [ + 0.013473503894274878, + 0.9926509857177734, + -0.1202601968982608, + -0.2766349805909073 + ], + [ + 0.24241205066420513, + 0.11344044655561447, + 0.9635183831583152, + 0.041114763316060315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9698031796927572, + -0.040995329618453986, + -0.24041872611550633, + 0.16934357980727113 + ], + [ + 0.012059293032769407, + 0.9926261901855471, + -0.12061415992573066, + -0.2755718024471774 + ], + [ + 0.24359054480853276, + 0.11407271027565005, + 0.9631464251189015, + 0.03975249531225609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9692490955854829, + -0.04069157689809799, + -0.24269413979969157, + 0.17164487282349494 + ], + [ + 0.011101033605263265, + 0.9924597144126892, + -0.12206756472791178, + -0.27380789559386987 + ], + [ + 0.24583126841764905, + 0.1156197115778923, + 0.9623923570791331, + 0.03916566939765119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9689210948858106, + -0.04034483805298806, + -0.24405774669211436, + 0.17352673183483328 + ], + [ + 0.009990530122163424, + 0.9921876192092898, + -0.1243542339725471, + -0.2713165613886852 + ], + [ + 0.24716811646238004, + 0.11805117875337603, + 0.9617545442737584, + 0.038766724590956966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9684364249633496, + -0.03972968086600304, + -0.246074050133922, + 0.1758245758946735 + ], + [ + 0.008763720798914392, + 0.9920324087142947, + -0.1256777265148787, + -0.26929930988283285 + ], + [ + 0.2491065716730616, + 0.1195543706417084, + 0.9610684992626483, + 0.03852503456834438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9679520729102308, + -0.03980843350291252, + -0.24795990211158453, + 0.17808247849789396 + ], + [ + 0.008207802499707295, + 0.9918438792228699, + -0.1271939261509322, + -0.26705323255047053 + ], + [ + 0.25100091103506667, + 0.12108241766691208, + 0.9603840918910829, + 0.03785599463844361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9672557725660866, + -0.04002111777663231, + -0.25062841436851124, + 0.18042272297074635 + ], + [ + 0.009454709578529893, + 0.992485761642456, + -0.12199441728050685, + -0.26774116888877064 + ], + [ + 0.2536274851532568, + 0.11563017964363098, + 0.9603659543774571, + 0.037778166766575166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9668144970405085, + -0.04021535813808441, + -0.2522944543790161, + 0.1823358303007567 + ], + [ + 0.0099035391927277, + 0.9926903247833252, + -0.12028212593989887, + -0.2656641744484337 + ], + [ + 0.25528746142426395, + 0.11379189044237137, + 0.9601456820301348, + 0.038076120619207336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9668483177962797, + -0.037764713168144226, + -0.2525434403692934, + 0.1836620859288261 + ], + [ + 0.00654310662463657, + 0.9923425912857056, + -0.12334251061788622, + -0.261532663937971 + ], + [ + 0.25526760684947164, + 0.11760107427835464, + 0.9596918705522586, + 0.03784573512506975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9664695840908863, + -0.03930175304412842, + -0.25375567700828816, + 0.18550046854393304 + ], + [ + 0.011361724346150546, + 0.9937949180603027, + -0.11064626823522736, + -0.2645454599085619 + ], + [ + 0.2565296905500949, + 0.10405314713716507, + 0.960919098667783, + 0.03893288879514244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9658620692383009, + -0.03837873786687851, + -0.2561982973639847, + 0.1882660200604972 + ], + [ + 0.010910374989489602, + 0.994114100933075, + -0.10778732722760738, + -0.26267944953239414 + ], + [ + 0.25882708380184727, + 0.10131246596574783, + 0.9605958409940649, + 0.040649721669539965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9655197343589124, + -0.0366857647895813, + -0.25773195577520036, + 0.19078475683094087 + ], + [ + 0.009165893237063022, + 0.99419766664505, + -0.10717743408538236, + -0.25913375512358466 + ], + [ + 0.26016839468921615, + 0.10111959278583527, + 0.960253722840721, + 0.04200470690356379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9671860243196109, + -0.037329081445932395, + -0.25131213624192045, + 0.19035944533783233 + ], + [ + 0.012577471136133526, + 0.9949696063995364, + -0.09938456734618062, + -0.25942476779718937 + ], + [ + 0.2537578682452357, + 0.09296248853206636, + 0.9627901685081179, + 0.038956971462553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9697045076559658, + -0.03450113534927368, + -0.24183233610605115, + 0.1883404072405077 + ], + [ + 0.013574183501167306, + 0.996056854724884, + -0.08767290508856362, + -0.2617722437250067 + ], + [ + 0.2439035590999054, + 0.08173413574695587, + 0.9663490895626925, + 0.03281930879942396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9673832758411753, + -0.032065413892269135, + -0.2512795292716616, + 0.19790717654412548 + ], + [ + 0.020319012614751455, + 0.998582124710083, + -0.04920286963057651, + -0.2809849670862486 + ], + [ + 0.2525009537323067, + 0.04249228164553642, + 0.9666631862843532, + 0.016578752002979084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9672344335505442, + -0.033372923731803894, + -0.25168182421305335, + 0.20003856047545968 + ], + [ + 0.022061695969179066, + 0.9986212849617004, + -0.04763189015943687, + -0.2776448128500481 + ], + [ + 0.2529244516713675, + 0.04051867499947548, + 0.9666372148442566, + 0.019561051228952124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9670353924669081, + -0.032617829740047455, + -0.2525441928416042, + 0.20113684546150737 + ], + [ + 0.022453394633014552, + 0.9988215565681458, + -0.04302678446801359, + -0.2752768828791187 + ], + [ + 0.25365004317533757, + 0.035937950015068054, + 0.9666282497337921, + 0.02460814841677176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9663763862294825, + -0.031778447329998016, + -0.25516047254892743, + 0.20331110710181452 + ], + [ + 0.021531020888453174, + 0.9988492727279663, + -0.042854638018152404, + -0.27032103412296593 + ], + [ + 0.2562287085857649, + 0.03591984137892723, + 0.9659485861399436, + 0.03165473904920794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9662251179174003, + -0.033016450703144073, + -0.2555757457444841, + 0.20384464571862046 + ], + [ + 0.02369055771750017, + 0.9989393353462219, + -0.0394834936891892, + -0.26819633141774235 + ], + [ + 0.2566082653207938, + 0.03209521248936653, + 0.9659824341139538, + 0.0385818358589053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9650551347951428, + -0.03482842445373536, + -0.2597221345050602, + 0.20549296596518735 + ], + [ + 0.02593411501225787, + 0.9989565014839175, + -0.03759490896571635, + -0.26538480285001187 + ], + [ + 0.26076047530080676, + 0.029545497149229057, + 0.9649512974096704, + 0.04535505460562161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9639840420191975, + -0.034312717616558075, + -0.2637373610400717, + 0.20691481799307007 + ], + [ + 0.0262271357822592, + 0.9990735650062561, + -0.034118765617774036, + -0.2637445961543018 + ], + [ + 0.26466374670539333, + 0.025972869247198105, + 0.9639909371921502, + 0.05395998536815012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.963158227692252, + -0.03393792733550072, + -0.26678549000514995, + 0.20965078697961362 + ], + [ + 0.025995279017592226, + 0.9991090297698975, + -0.03324813933327768, + -0.2624248288007659 + ], + [ + 0.2676761476422732, + 0.025088055059313774, + 0.9631822421819235, + 0.06155235690758901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9638366118329748, + -0.032112836837768555, + -0.26455193538297667, + 0.21018639550082394 + ], + [ + 0.023941116680116482, + 0.9991331100463867, + -0.03405635049382745, + -0.26082317551767964 + ], + [ + 0.26541624750699994, + 0.026491088792681694, + 0.9637698958109718, + 0.06870958997686678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9634713435063957, + -0.0307228434830904, + -0.26604337147467194, + 0.21210449979435453 + ], + [ + 0.023032350322367667, + 0.9992231130599976, + -0.031979619540444176, + -0.2603911347108433 + ], + [ + 0.26681918027536455, + 0.024683844298124313, + 0.9634304243736993, + 0.07519298217297354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9616134123331053, + -0.026527926325798035, + -0.27312241912203933, + 0.21039597504771615 + ], + [ + 0.005602293475269188, + 0.9970065951347351, + -0.0771129544781901, + -0.2393784644369608 + ], + [ + 0.2743505089377747, + 0.07262273877859116, + 0.9588835801556284, + 0.11168783442345558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9623578534196577, + -0.029704339802265174, + -0.2701573176922835, + 0.21549397157042197 + ], + [ + 0.02306824869901737, + 0.999349892139435, + -0.02770651962665012, + -0.261480854336853 + ], + [ + 0.2708046917976128, + 0.020431531593203548, + 0.9624174628985489, + 0.08688408078646262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9616894403429357, + -0.030931716784834862, + -0.27239053759662035, + 0.21733402073844976 + ], + [ + 0.02385484422916703, + 0.9992873072624207, + -0.029254764070720782, + -0.2612025941753202 + ], + [ + 0.273101307900257, + 0.02163616381585598, + 0.9617419240306038, + 0.09124223604991985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9606408294460309, + -0.03265747055411339, + -0.2758671450719673, + 0.21900848773823944 + ], + [ + 0.02571273822113326, + 0.9992557168006897, + -0.02875463531912758, + -0.26081144913075965 + ], + [ + 0.27660088823572765, + 0.020529577508568764, + 0.9607655915211023, + 0.09471531966130921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.959225504267655, + -0.03383787348866463, + -0.2806091358835329, + 0.22083998429182322 + ], + [ + 0.027165205199663103, + 0.9992488622665405, + -0.0276359595239338, + -0.2616354550774195 + ], + [ + 0.2813334982495469, + 0.01888631284236908, + 0.9594241842487135, + 0.09856530686548648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9583560869772051, + -0.03401286154985428, + -0.28354309179222775, + 0.22262845311828355 + ], + [ + 0.026576527094942327, + 0.9991955161094666, + -0.030033241714753772, + -0.26224045330872464 + ], + [ + 0.2843365117415538, + 0.021246949210762978, + 0.9584890914633415, + 0.10098957831306016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9581553403953084, + -0.033431682735681534, + -0.28428984814445746, + 0.22386174449025303 + ], + [ + 0.02519718443776641, + 0.9991516470909119, + -0.032574165414038334, + -0.26345019585828366 + ], + [ + 0.2851376755663433, + 0.02404780499637127, + 0.958184841662078, + 0.10363645125837075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.957871000234895, + -0.03323542326688767, + -0.28526925115335044, + 0.22590064354051229 + ], + [ + 0.023983645434543756, + 0.9990687966346743, + -0.03586519103949112, + -0.2640386117417154 + ], + [ + 0.286195598067187, + 0.027512429282069213, + 0.9577761167875903, + 0.1047822417873499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9573798359357615, + -0.032415721565485, + -0.2870070977105528, + 0.22848653086576776 + ], + [ + 0.022149497741807207, + 0.998995840549469, + -0.0389456861455108, + -0.2646900566488218 + ], + [ + 0.2879813330736944, + 0.030928753316402435, + 0.957136416317442, + 0.10661958592309789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9579533981466151, + -0.03173929825425149, + -0.2851629941215821, + 0.22953044064323466 + ], + [ + 0.020902988123649546, + 0.9989418983459475, + -0.04096474153097025, + -0.26570896994601156 + ], + [ + 0.286161459368353, + 0.033281557261943824, + 0.9576032466820549, + 0.10728619061778252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9581746048038889, + -0.03061579167842865, + -0.28454188742165804, + 0.23180939889462243 + ], + [ + 0.01906237781796592, + 0.9988808631896973, + -0.04328516812192758, + -0.2666481406462272 + ], + [ + 0.2855486587826376, + 0.0360507071018219, + 0.9576858892195911, + 0.10871314126481833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9578514928797677, + -0.029943782836198807, + -0.285698897679125, + 0.23442680303367489 + ], + [ + 0.01762465300814297, + 0.9988045692443848, + -0.045594107937772084, + -0.26676883546483177 + ], + [ + 0.28672262821309025, + 0.03863704204559326, + 0.9572342149795627, + 0.10952505214498193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9572786473902104, + -0.030849430710077286, + -0.28751678769128125, + 0.23667564212311062 + ], + [ + 0.018401094418297643, + 0.9987766146659851, + -0.04589893753443032, + -0.2662223474200296 + ], + [ + 0.28858099040555935, + 0.038647450506687164, + 0.9566751477935826, + 0.11143283128629153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9568171542631047, + -0.030617974698543556, + -0.28907341069238707, + 0.23883435186829477 + ], + [ + 0.018465666401632774, + 0.9988309741020205, + -0.04467347694984247, + -0.26654430852043903 + ], + [ + 0.29010328802073243, + 0.037406418472528465, + 0.9562639950832488, + 0.11215741203104512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9563325673105602, + -0.030590660870075233, + -0.29067552141182856, + 0.24030409299086822 + ], + [ + 0.017939609264782375, + 0.9987762570381167, + -0.04608916442767048, + -0.2667786750982585 + ], + [ + 0.29172970325477365, + 0.038861960172653205, + 0.9557110305931362, + 0.11337905433655932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9553660207924357, + -0.030326236039400108, + -0.2938641185020629, + 0.2422495819320323 + ], + [ + 0.01638949141506558, + 0.9986260533332827, + -0.04977336570727867, + -0.2666388818523189 + ], + [ + 0.29496979014305463, + 0.04273549839854241, + 0.9545503907847386, + 0.11437184186837862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9546764839934341, + -0.030788790434598923, + -0.296048791076439, + 0.24314442527397495 + ], + [ + 0.01599460199776366, + 0.9985051155090332, + -0.05226535258951013, + -0.26672562324317683 + ], + [ + 0.29721542761203373, + 0.04516132175922394, + 0.9537418421847922, + 0.11530678622255548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9529073423232118, + -0.029474642127752304, + -0.30182584473718393, + 0.24377781082475028 + ], + [ + 0.013045625081666299, + 0.998328447341919, + -0.05630432831177882, + -0.26771303095015614 + ], + [ + 0.30298086351218445, + 0.049715302884578705, + 0.9516989882983473, + 0.11763806891583277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9516022218757575, + -0.026840889826416976, + -0.30615801134997056, + 0.24381891618575505 + ], + [ + 0.008813572554293176, + 0.9981526136398318, + -0.06011369895454438, + -0.2698205980955786 + ], + [ + 0.3072059418228961, + 0.05450598523020746, + 0.9500808716717514, + 0.11774310077752728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9488883688161636, + -0.02453448437154293, + -0.31465685775605845, + 0.24436071386577707 + ], + [ + 0.003074462169270954, + 0.9976451992988586, + -0.06851714117661285, + -0.2702848563948219 + ], + [ + 0.3155969405655932, + 0.06404772400856018, + 0.9467293733756089, + 0.1215703128463183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9476065121670124, + -0.019333699718117714, + -0.3188544098152519, + 0.2436437462823568 + ], + [ + -0.003654349272537895, + 0.9974453449249268, + -0.07134037682420628, + -0.2719736990755007 + ], + [ + 0.31941911612980717, + 0.06876780837774277, + 0.9451150198281375, + 0.1226788871297765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9446063261535492, + -0.01553149335086346, + -0.3278378100089534, + 0.2435977116738514 + ], + [ + -0.00951339934111503, + 0.9971642494201662, + -0.07465236061801397, + -0.27350635907541215 + ], + [ + 0.3280676156512875, + 0.07363595068454744, + 0.9417799109074484, + 0.12657990337738462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9431867295012871, + -0.010184193029999733, + -0.33210701234269263, + 0.24218001433167485 + ], + [ + -0.017146395786086593, + 0.996706485748291, + -0.07926030939140352, + -0.27491546240970743 + ], + [ + 0.3318204132720883, + 0.08045170456171036, + 0.9399056909151855, + 0.12842125047116998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9410777096099604, + -0.00522161228582263, + -0.3381500993388453, + 0.24151596189464725 + ], + [ + -0.02368711534891975, + 0.9964075088500977, + -0.08130788505076302, + -0.27528985887766944 + ], + [ + 0.3373598591986687, + 0.08452684432268143, + 0.9375731952504305, + 0.13126437291344117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/pan_right/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8d679967436a2fbd95d14957e15b069ad4dadd92 --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/pan_right/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998916197502158, + -0.010517086833715439, + 0.01030215368218123, + 0.010680235922336578 + ], + [ + 0.010534491739735512, + 0.999943196773529, + -0.0016367240627645145, + -0.00727278646081686 + ], + [ + -0.010284354310377239, + 0.0017450745217502117, + 0.9999455946306391, + -0.0001338059373665601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996521217370044, + -0.020598368719220165, + 0.016471619598870384, + 0.024104878306388855 + ], + [ + 0.020624506584302125, + 0.9997862577438357, + -0.0014184989165896191, + -0.013814170844852924 + ], + [ + -0.016438879912940685, + 0.0017577244434505705, + 0.9998633030768566, + 0.003339199349284172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993993246894579, + -0.02704532817006111, + 0.02166750989208097, + 0.039176926016807556 + ], + [ + 0.027045804257116335, + 0.9996341466903687, + 0.0002711094774292673, + -0.019865527749061584 + ], + [ + -0.021666915317582875, + 0.0003150685515720397, + 0.9997651867828078, + 0.0069460938684642315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9990091996169487, + -0.03251559287309647, + 0.03038660575745687, + 0.050628796219825745 + ], + [ + 0.03238683340582485, + 0.999464273452759, + 0.004720188435847429, + -0.028574245050549507 + ], + [ + -0.030523804423424932, + -0.0037313858047127732, + 0.9995270672304974, + 0.012776724062860012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984811275341214, + -0.04022211953997612, + 0.037651544843937755, + 0.059481583535671234 + ], + [ + 0.039874484187956014, + 0.9991552829742432, + 0.009939088248539164, + -0.03930722549557686 + ], + [ + -0.03801950860984972, + -0.008422656916081905, + 0.9992415054756055, + 0.01954261213541031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9979532488523342, + -0.04740295559167862, + 0.042921521180249785, + 0.06884372234344482 + ], + [ + 0.046709244210339756, + 0.9987634420394897, + 0.01702410466917882, + -0.05550294741988182 + ], + [ + -0.04367543891333568, + -0.014984428882598877, + 0.9989333908935452, + 0.026303669437766075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9973261105722689, + -0.052909329533576965, + 0.05041117378458818, + 0.07561921328306198 + ], + [ + 0.05187316089112815, + 0.9984190464019775, + 0.02164645266952465, + -0.06834998726844788 + ], + [ + -0.05147677346869614, + -0.018973583355545998, + 0.9984939148625184, + 0.03319617733359337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9966423991053063, + -0.05675999820232393, + 0.05901027508386431, + 0.07907184213399887 + ], + [ + 0.05505147241130909, + 0.9980270862579348, + 0.030187703004713642, + -0.08590137213468552 + ], + [ + -0.06060730827009569, + -0.026837741956114776, + 0.9978008555371466, + 0.04058527946472168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9960220754768437, + -0.0600983425974846, + 0.06578954540181078, + 0.08240325003862381 + ], + [ + 0.057753725543091695, + 0.9976457357406618, + 0.036979628601174784, + -0.101395383477211 + ], + [ + -0.0678570716867159, + -0.033032931387424476, + 0.9971480698570605, + 0.04783105105161667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955041788114413, + -0.06270180642604828, + 0.07099258957275527, + 0.08619336783885956 + ], + [ + 0.059295481958816655, + 0.9970315098762512, + 0.04911464883172325, + -0.12749959528446198 + ], + [ + -0.07386142586929124, + -0.04468429461121559, + 0.9962669410418574, + 0.053913239389657974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9948486019289244, + -0.06547611951828003, + 0.07738941750024485, + 0.08879018574953079 + ], + [ + 0.06174421382720196, + 0.9968552589416504, + 0.049671750405223335, + -0.14728428423404694 + ], + [ + -0.08039836215659006, + -0.044637519866228104, + 0.9957627915679904, + 0.05868970975279808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9940409650831866, + -0.06692962348461151, + 0.08604062471796511, + 0.08904711157083511 + ], + [ + 0.0627778699655521, + 0.9967698454856873, + 0.05008865579835051, + -0.1638219952583313 + ], + [ + -0.08911511201182522, + -0.044388726353645325, + 0.9950317076816326, + 0.0632702112197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9932742509927316, + -0.06787350028753282, + 0.09380570820455984, + 0.09188248962163925 + ], + [ + 0.06311688610046472, + 0.9966095685958865, + 0.05277935147465787, + -0.1830453872680664 + ], + [ + -0.09706997763853982, + -0.04650364443659783, + 0.9941905570364623, + 0.06795848160982132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9922273760755078, + -0.06883535534143448, + 0.10366571134432481, + 0.09325087815523148 + ], + [ + 0.06371857220860472, + 0.9966179728507996, + 0.051890272577003356, + -0.20079684257507324 + ], + [ + -0.10688699939255658, + -0.044881515204906464, + 0.9932576803142866, + 0.0709274411201477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9908108963035119, + -0.0728846862912178, + 0.1139368057301947, + 0.08424841612577438 + ], + [ + 0.06821153804638845, + 0.9966826438903809, + 0.044394450206414804, + -0.2039249688386917 + ], + [ + -0.11679451666025786, + -0.03621470183134079, + 0.9924956333799871, + 0.07142484188079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9906846925273459, + -0.07891405373811722, + 0.11097924606776004, + 0.08307997137308121 + ], + [ + 0.07351471667929071, + 0.9959408640861511, + 0.051936104263651514, + -0.2122381627559662 + ], + [ + -0.11462725429992837, + -0.043293699622154236, + 0.9924647424758348, + 0.07130277156829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9910784836089913, + -0.082437664270401, + 0.10472598817269217, + 0.08410094678401947 + ], + [ + 0.07680701421510853, + 0.9954317212104797, + 0.05671271509981035, + -0.21415536105632782 + ], + [ + -0.10892282922661037, + -0.04816306009888649, + 0.9928827520765542, + 0.07025528699159622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9907657490280246, + -0.08652183413505554, + 0.1043896148182773, + 0.0814565047621727 + ], + [ + 0.08006662666339594, + 0.9946987628936768, + 0.06452649880720807, + -0.22497889399528503 + ], + [ + -0.1094191796799512, + -0.055572524666786194, + 0.9924410004323813, + 0.0695275142788887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9909861844127631, + -0.08843912184238435, + 0.10062238581950515, + 0.08279751241207123 + ], + [ + 0.08222619215424389, + 0.9945366978645327, + 0.06430908241250519, + -0.22702163457870483 + ], + [ + -0.1057600944582645, + -0.055455621331930174, + 0.9928441301781864, + 0.0654982402920723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9909006805783693, + -0.09020979702472687, + 0.09989018413725997, + 0.08439858257770538 + ], + [ + 0.08341749156644195, + 0.9940381050109863, + 0.07021237603368848, + -0.2344043105840683 + ], + [ + -0.10562849590547681, + -0.06124090030789375, + 0.9925181071524048, + 0.06157200410962105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9908962504885019, + -0.09098882973194122, + 0.09922537561496228, + 0.08916927129030228 + ], + [ + 0.08407974871667273, + 0.9938741326332092, + 0.0717269753120401, + -0.24298731982707977 + ], + [ + -0.105143887731461, + -0.06273113936185837, + 0.9924764879534351, + 0.05673287436366081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9903445826320204, + -0.09030290693044662, + 0.10518090619810332, + 0.08592196553945541 + ], + [ + 0.08366997042143967, + 0.9943146109580994, + 0.06586170822426203, + -0.24144722521305084 + ], + [ + -0.11053041174322333, + -0.0564252994954586, + 0.9922697133290506, + 0.05028180778026581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.989945301305516, + -0.09022460132837296, + 0.10893974431063908, + 0.08550278842449188 + ], + [ + 0.08339148310847347, + 0.9943462014198303, + 0.06573809078933096, + -0.24300678074359894 + ], + [ + -0.11425501667164734, + -0.05599246546626091, + 0.9918723076623677, + 0.042675625532865524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9894022980940376, + -0.09103531390428543, + 0.11311798273621046, + 0.0841769129037857 + ], + [ + 0.08370915336988988, + 0.9941729307174683, + 0.06791863425258099, + -0.24458052217960358 + ], + [ + -0.11864183171151468, + -0.05772984027862549, + 0.9912574551324992, + 0.03603538125753403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9890818771789007, + -0.0918109491467476, + 0.11527250406631714, + 0.08360785245895386 + ], + [ + 0.08391604574042037, + 0.9938987493515017, + 0.07157779729379182, + -0.2470967322587967 + ], + [ + -0.12114082670731578, + -0.06112308800220491, + 0.990751686529925, + 0.030616259202361107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9886375130810319, + -0.09156160056591035, + 0.11921560393475436, + 0.08290563523769379 + ], + [ + 0.08308294005257102, + 0.9937722682952883, + 0.07425588546938429, + -0.24973441660404205 + ], + [ + -0.12527215357483712, + -0.0635073632001877, + 0.9900877335932907, + 0.025038452818989754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9883075243227498, + -0.09126362204551697, + 0.12214424527218178, + 0.08168169856071472 + ], + [ + 0.08240902831489397, + 0.9937202334403992, + 0.07568954771743855, + -0.2506158947944641 + ], + [ + -0.12828489830354403, + -0.06473875790834427, + 0.9896220758349143, + 0.01934441365301609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9880093595472178, + -0.09198590368032457, + 0.12400028469761902, + 0.0822085589170456 + ], + [ + 0.08263961240269638, + 0.9934807419776919, + 0.07852810839624737, + -0.25345590710639954 + ], + [ + -0.13041537437946218, + -0.06733916699886323, + 0.9891699730465686, + 0.014033855870366096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9878339045326578, + -0.09210819005966187, + 0.12530057965012764, + 0.08344721049070358 + ], + [ + 0.08253637841065524, + 0.9934073686599731, + 0.07955843855574256, + -0.25356078147888184 + ], + [ + -0.13180250993107745, + -0.0682486742734909, + 0.9889237731953039, + 0.009286798536777496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.987768598255024, + -0.09154397249221802, + 0.1262255226564863, + 0.08222179859876633 + ], + [ + 0.08135210369137613, + 0.9931671619415283, + 0.08367100496106655, + -0.257862389087677 + ], + [ + -0.13302261646027885, + -0.07237887382507324, + 0.9884666041816129, + 0.0053503368981182575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9877045295198064, + -0.09124509245157243, + 0.12694153263430605, + 0.08337505161762238 + ], + [ + 0.08118623267681085, + 0.9932965040206911, + 0.08228525595774845, + -0.2578274607658386 + ], + [ + -0.1335987015101991, + -0.07096761465072633, + 0.9884912453503047, + 0.0003672270104289055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9872596105422695, + -0.09172139316797256, + 0.13002169950212997, + 0.08131115138530731 + ], + [ + 0.0813135959608909, + 0.9932079315185547, + 0.08322297260008223, + -0.2589951455593109 + ], + [ + -0.1367719200135546, + -0.07159015536308289, + 0.988012284390734, + -0.004344738554209471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9870988382630332, + -0.09110751003026962, + 0.1316634065159777, + 0.08097788691520691 + ], + [ + 0.08067163825188543, + 0.9933171272277832, + 0.0825420122781786, + -0.25863760709762573 + ], + [ + -0.13830371670964656, + -0.07085562497377396, + 0.987851974592829, + -0.008859163150191307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9866160642913234, + -0.09116356819868088, + 0.13519601302782236, + 0.07635462284088135 + ], + [ + 0.080498042540872, + 0.9933453798294067, + 0.08237113179702718, + -0.25814089179039 + ], + [ + -0.14180558386208647, + -0.07038567215204239, + 0.987389023231098, + -0.01393492054194212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9868757153044234, + -0.0918126255273819, + 0.1328411729468907, + 0.07897711545228958 + ], + [ + 0.081176380045613, + 0.9932050704956055, + 0.08339104164037806, + -0.2587801218032837 + ], + [ + -0.1395948757527401, + -0.07151302695274353, + 0.9876229944875443, + -0.020030029118061066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9866154461034035, + -0.09244798123836517, + 0.13432554506071612, + 0.07773328572511673 + ], + [ + 0.0817785109586056, + 0.9931970834732056, + 0.08289651615357893, + -0.25686293840408325 + ], + [ + -0.14107535654149653, + -0.07080203294754028, + 0.9874638428200405, + -0.025136051699519157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9865169891847194, + -0.0919349193572998, + 0.13539628463270656, + 0.07587273418903351 + ], + [ + 0.08129220606712512, + 0.9932990670204163, + 0.0821494246579994, + -0.25656798481941223 + ], + [ + -0.1420414107582915, + -0.07003513723611832, + 0.9873800083357877, + -0.029249511659145355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9860524533020674, + -0.0926131159067154, + 0.13828720517303425, + 0.0722835436463356 + ], + [ + 0.08193643885786166, + 0.9933397173881531, + 0.08101004154128366, + -0.25340649485588074 + ], + [ + -0.14486877055408212, + -0.06854939460754395, + 0.9870734683922017, + -0.03368957340717316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9860182492197848, + -0.094053253531456, + 0.1375573033177337, + 0.07285944372415543 + ], + [ + 0.08326692992695688, + 0.9931328296661377, + 0.08218152953270941, + -0.2517518699169159 + ], + [ + -0.14434210803937855, + -0.06957852095365524, + 0.9870786025887485, + -0.03780430927872658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9858635815271568, + -0.09483803808689117, + 0.13812601461918653, + 0.07111683487892151 + ], + [ + 0.0837214469469249, + 0.9929261207580566, + 0.08419298484973145, + -0.25221729278564453 + ], + [ + -0.14513362418765186, + -0.07143869251012802, + 0.9868296264203565, + -0.03984931483864784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9854536867616668, + -0.09631174057722092, + 0.1400183178265001, + 0.06756336241960526 + ], + [ + 0.08505986052167804, + 0.9928075671195984, + 0.08424949572643448, + -0.2504498362541199 + ], + [ + -0.14712545855668147, + -0.07111404091119766, + 0.9865581255126813, + -0.042976442724466324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9850278548108544, + -0.0982501283288002, + 0.14165815808568033, + 0.06457094848155975 + ], + [ + 0.08648449289207881, + 0.9924505949020386, + 0.08696123588354362, + -0.2522464394569397 + ], + [ + -0.14913267630520513, + -0.07340800017118454, + 0.9860886200221645, + -0.0447431243956089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9847880471347308, + -0.098293736577034, + 0.14328593765500952, + 0.06229069083929062 + ], + [ + 0.08672582740801629, + 0.9926104545593262, + 0.08487108110912922, + -0.24895739555358887 + ], + [ + -0.1505694223054228, + -0.0711534395813942, + 0.9860355176201867, + -0.04578359052538872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9844874286453225, + -0.09926310926675799, + 0.14467662406089954, + 0.058954812586307526 + ], + [ + 0.08736131685220735, + 0.9924200773239138, + 0.08643130162763601, + -0.2496652752161026 + ], + [ + -0.152159426019939, + -0.07245139777660371, + 0.9856968651392762, + -0.04637360945343971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9845902394640971, + -0.10032722353935242, + 0.14323577577646252, + 0.059170305728912354 + ], + [ + 0.08847062810408408, + 0.9922818541526794, + 0.08688871625307637, + -0.2493530511856079 + ], + [ + -0.15084756904338323, + -0.07287762314081192, + 0.9858670707695979, + -0.04735080897808075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.984010419198646, + -0.10104633867740631, + 0.14667340083340974, + 0.0540454275906086 + ], + [ + 0.08848766853257992, + 0.9920234084129333, + 0.08977462611742563, + -0.25333818793296814 + ], + [ + -0.15457485063375143, + -0.07536038756370544, + 0.9851027464164404, + -0.04716042801737785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9835751799404095, + -0.10082564502954483, + 0.14971341771118274, + 0.048574838787317276 + ], + [ + 0.08828164122523519, + 0.9921823740005493, + 0.08820720607750508, + -0.2527795135974884 + ], + [ + -0.1574365612663085, + -0.07354146987199783, + 0.9847869871209545, + -0.047129929065704346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9832181071686573, + -0.10098015516996384, + 0.1519378547815211, + 0.04327522963285446 + ], + [ + 0.08813139697065066, + 0.992119312286377, + 0.0890625277115808, + -0.2559111416339874 + ], + [ + -0.159734030055911, + -0.07417739927768707, + 0.9843692038795849, + -0.045807041227817535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.983381305179635, + -0.09963577985763553, + 0.15176923785855834, + 0.04013459011912346 + ], + [ + 0.0871005281795383, + 0.9923818707466128, + 0.08713038298954484, + -0.25791865587234497 + ], + [ + -0.15929433823968772, + -0.07246320694684984, + 0.9845681325204334, + -0.046301696449518204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9830973613068421, + -0.0985749289393425, + 0.154280855442012, + 0.03265674412250519 + ], + [ + 0.0860493007764916, + 0.9925829768180847, + 0.08587555350589321, + -0.26240918040275574 + ], + [ + -0.16160171689344666, + -0.07114826887845993, + 0.9842879796678677, + -0.04538831114768982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9830629417661464, + -0.09562221169471741, + 0.1563446498918297, + 0.026438789442181587 + ], + [ + 0.08342242986692011, + 0.9930660724639893, + 0.08282771910480051, + -0.26582467555999756 + ], + [ + -0.1631807447705918, + -0.06838221102952957, + 0.9842234924748008, + -0.04527873545885086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9843546358876007, + -0.0910915955901146, + 0.1508253606801735, + 0.03382134437561035 + ], + [ + 0.08016948775443367, + 0.9938035607337952, + 0.07698930029979631, + -0.26493966579437256 + ], + [ + -0.15690385578224225, + -0.06369318068027496, + 0.9855579090759758, + -0.0428866408765316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.983731385733489, + -0.08988089114427567, + 0.1555440442548189, + 0.01967024616897106 + ], + [ + 0.07876694365560755, + 0.993975818157196, + 0.07620936998295622, + -0.2714107930660248 + ], + [ + -0.1614567804815043, + -0.06271781772375107, + 0.9848848408438751, + -0.04438029229640961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9836016680625295, + -0.08694701641798021, + 0.1580126260047164, + 0.008158030919730663 + ], + [ + 0.07600967351951875, + 0.994357228279114, + 0.07400135792240699, + -0.276067852973938 + ], + [ + -0.16355519459792583, + -0.060777373611927046, + 0.9846602276645593, + -0.04000549390912056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9857602698182827, + -0.07990458607673646, + 0.14795929755399398, + 0.017373569309711456 + ], + [ + 0.07138273665799434, + 0.995517432689667, + 0.06204506036911505, + -0.2717481851577759 + ], + [ + -0.15225374007579462, + -0.05059981718659402, + 0.9870453289441418, + -0.03776823356747627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9838446521918396, + -0.0771116688847542, + 0.16156587142732168, + 0.0028879838064312935 + ], + [ + 0.06859983562615773, + 0.9959787130355837, + 0.057623515855404255, + -0.2762407660484314 + ], + [ + -0.16535961444487257, + -0.04560919478535653, + 0.9851781559721102, + -0.02293698862195015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9851584201934684, + -0.07257442176342012, + 0.15555001141025548, + 0.0047202156856656075 + ], + [ + 0.06689549240099003, + 0.9968988895416262, + 0.041444532803322616, + -0.2711257040500641 + ], + [ + -0.15807544184691, + -0.03042383864521981, + 0.986958233265467, + -0.029355809092521667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9861644402885367, + -0.06616573035717012, + 0.1519929292998977, + 0.003186506452038884 + ], + [ + 0.06234262628778271, + 0.9976102113723757, + 0.029787734084076426, + -0.27260956168174744 + ], + [ + -0.15360062313046674, + -0.01989996433258057, + 0.9879326353896659, + -0.031312208622694016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.987016892783775, + -0.0626349151134491, + 0.1479002610451333, + 0.0012081556487828493 + ], + [ + 0.060504619421914894, + 0.9979896545410156, + 0.018863476609500114, + -0.27476856112480164 + ], + [ + -0.14878444481829142, + -0.009669921360909939, + 0.9888223972835547, + -0.034455638378858566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9875378542530902, + -0.06131782382726669, + 0.14494539256555394, + -0.000975260918494314 + ], + [ + 0.060639287022435914, + 0.9981182813644409, + 0.009098947284993523, + -0.276259183883667 + ], + [ + -0.14523056452883848, + -0.0001961699454113841, + 0.9893977921807136, + -0.03692052140831947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.988490503996245, + -0.057653289288282394, + 0.13986648191367626, + -0.002035567769780755 + ], + [ + 0.058752265112726604, + 0.9982656240463257, + -0.003737557206113978, + -0.27501925826072693 + ], + [ + -0.13940841524113498, + 0.011912011541426182, + 0.9901633256627792, + -0.037024736404418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9895262190447306, + -0.05615319684147836, + 0.13298362931205526, + -0.00013753806706517935 + ], + [ + 0.058470004872157054, + 0.9981968402862551, + -0.013578084556165384, + -0.27475234866142273 + ], + [ + -0.13198138809809995, + 0.021211424842476848, + 0.991025237017656, + -0.03917932137846947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.989938567125882, + -0.05791363492608072, + 0.1291033715815548, + -0.0031112630385905504 + ], + [ + 0.061532240969358686, + 0.9978113174438479, + -0.02421515937412379, + -0.27353665232658386 + ], + [ + -0.1274184173174255, + 0.03191553801298142, + 0.9913354593939203, + -0.03758643567562103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9905705168352803, + -0.05583849549293518, + 0.1251082833132392, + -0.005007228348404169 + ], + [ + 0.060537593329306784, + 0.9975841045379639, + -0.034075758315706715, + -0.2726883888244629 + ], + [ + -0.12290329910867667, + 0.041328199207782745, + 0.9915577570618604, + -0.03431332856416702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9915850988603613, + -0.05872952193021776, + 0.11536822571074934, + -0.003989849239587784 + ], + [ + 0.0640799254364111, + 0.9970081448554995, + -0.04322582905225083, + -0.27122023701667786 + ], + [ + -0.11248443503254864, + 0.05025487393140794, + 0.9923818579291128, + -0.027123605832457542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9928626083041532, + -0.05586419999599457, + 0.10537083806715107, + -0.00451604463160038 + ], + [ + 0.06143083080191942, + 0.9968409538269043, + -0.05034271273887805, + -0.27238982915878296 + ], + [ + -0.10222560771557994, + 0.056456416845321655, + 0.9931578671967183, + -0.010556252673268318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9934996591004506, + -0.05327899754047394, + 0.10059698051148437, + -0.0062621585093438625 + ], + [ + 0.05937581927110143, + 0.9965132474899292, + -0.05861636793399861, + -0.2727069556713104 + ], + [ + -0.0971232038684606, + 0.06420837342739105, + 0.9931990687554402, + -0.0024720709770917892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9942453268031368, + -0.05003432556986809, + 0.09472473544327847, + -0.007428574375808239 + ], + [ + 0.05657612224566004, + 0.996101438999176, + -0.06768330978997834, + -0.2730042040348053 + ], + [ + -0.09096895422243344, + 0.07265298068523407, + 0.9931999480828624, + 0.008295652456581593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9949575720404732, + -0.05177897959947586, + 0.08589751652175368, + -0.0031580887734889984 + ], + [ + 0.05876424125642757, + 0.9949890971183777, + -0.0808918409244575, + -0.26961544156074524 + ], + [ + -0.0812785899814383, + 0.08553165197372437, + 0.9930146602336145, + 0.00918544176965952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9947511242747351, + -0.05447913333773613, + 0.0866153376342094, + -0.004512257874011993 + ], + [ + 0.061978915701273125, + 0.9943310022354126, + -0.08639698462390555, + -0.2707505524158478 + ], + [ + -0.08141748176462064, + 0.09131182730197906, + 0.9924884626593717, + 0.011017171666026115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9944913702455682, + -0.053270947188138976, + 0.09027228181546028, + -0.007126542739570141 + ], + [ + 0.06133297143262674, + 0.9941393733024599, + -0.08902362916819645, + -0.2736358642578125 + ], + [ + -0.08500085947633361, + 0.09406990557909015, + 0.9919302754373571, + 0.011320319958031178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9948744959419664, + -0.057371445000171675, + 0.08326623167497724, + -0.003943703602999449 + ], + [ + 0.06569409015352064, + 0.9927229881286623, + -0.10092234990321189, + -0.27045807242393494 + ], + [ + -0.07687023929815835, + 0.10587516427040103, + 0.9914037535749401, + 0.012745285406708717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9951938886468846, + -0.06205618008971214, + 0.07575092763794664, + -0.001394707360304892 + ], + [ + 0.06951502884454112, + 0.9925392866134644, + -0.10016683441942646, + -0.27441105246543884 + ], + [ + -0.06896980281198169, + 0.10495124757289886, + 0.9920828850469964, + 0.009632267989218235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9947804423947926, + -0.05898837745189668, + 0.08326030472043466, + -0.0056472355499863625 + ], + [ + 0.0675469292183036, + 0.9922778606414797, + -0.10402924130972628, + -0.2750915288925171 + ], + [ + -0.07648083948243377, + 0.10911022871732715, + 0.9910830889444752, + 0.013965290039777756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9947755765368985, + -0.05837381258606912, + 0.08374967375304598, + -0.006724069826304913 + ], + [ + 0.06703523342567172, + 0.9922481775283816, + -0.10464170348187996, + -0.277381032705307 + ], + [ + -0.07699212737676371, + 0.10970918834209445, + 0.9909773478140625, + 0.014227675274014473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9948870604004749, + -0.0572001077234745, + 0.0832342734388559, + -0.007454277947545052 + ], + [ + 0.06572283403116506, + 0.9924509525299072, + -0.10354498663869273, + -0.2805722951889038 + ], + [ + -0.07668315289200671, + 0.10848595201969147, + 0.9911359688693736, + 0.015112768858671188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9949362666654129, + -0.05647700279951097, + 0.08313921141585565, + -0.007601400371640921 + ], + [ + 0.06504377370176909, + 0.9924244284629824, + -0.10422577206548043, + -0.2822933495044708 + ], + [ + -0.07662303337397075, + 0.10910569876432422, + 0.9910725854868228, + 0.015719112008810043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9948564421073982, + -0.05494565516710283, + 0.08509763548144, + -0.009306812658905983 + ], + [ + 0.06372541754520744, + 0.9925177097320559, + -0.1041522213630723, + -0.2844425439834595 + ], + [ + -0.07873819641039323, + 0.10903939604759219, + 0.9909140635055067, + 0.015918387100100517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9949689678287644, + -0.05419622361660004, + 0.08425870330450437, + -0.009443435817956924 + ], + [ + 0.06289092260349412, + 0.9925639629364014, + -0.104218296699188, + -0.28571072220802307 + ], + [ + -0.07798391716238745, + 0.10899307578802109, + 0.9909788409032451, + 0.015425448305904865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9950311391557903, + -0.052545998245477676, + 0.08456899627879988, + -0.00958934798836708 + ], + [ + 0.06114699549898414, + 0.9928460121154785, + -0.10255628625104138, + -0.2884575426578522 + ], + [ + -0.07857507559282237, + 0.10721784085035324, + 0.9911257978516268, + 0.015534788370132446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9950446133088116, + -0.05105226859450342, + 0.08532215524354697, + -0.009706922806799412 + ], + [ + 0.059792453680811763, + 0.992857873439789, + -0.10323828398279318, + -0.28941580653190613 + ], + [ + -0.07944222778625101, + 0.10782832652330401, + 0.9909904103195265, + 0.01507328636944294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9949981668385497, + -0.04928652197122574, + 0.0868880883017545, + -0.010402686893939972 + ], + [ + 0.05812023127742299, + 0.993058443069458, + -0.10225937967722233, + -0.2911418676376343 + ], + [ + -0.0812449392865097, + 0.10679785162210464, + 0.9909558372660509, + 0.014879069291055202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9948847544196542, + -0.04813767969608307, + 0.08880922828742314, + -0.01056794635951519 + ], + [ + 0.057346929230650864, + 0.9928970336914062, + -0.10424393094391911, + -0.2911272644996643 + ], + [ + -0.0831603596097124, + 0.1088036373257637, + 0.9905786870969485, + 0.014346917159855366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9948813728997865, + -0.046025775372982025, + 0.08995918241531936, + -0.010928298346698284 + ], + [ + 0.055439459949025556, + 0.992913544178009, + -0.10511507968822922, + -0.2916378676891327 + ], + [ + -0.0844836901384924, + 0.10956432670354843, + 0.990382822446465, + 0.013997434638440609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.994881851464583, + -0.04468473792076111, + 0.09062773896611748, + -0.010607512667775154 + ], + [ + 0.054240535465777256, + 0.9928986430168152, + -0.1058782707614587, + -0.2912386953830719 + ], + [ + -0.08525301959432639, + 0.11025205999612808, + 0.9902406025236842, + 0.012964303605258465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9948688073150204, + -0.043737899512052536, + 0.0912307427473052, + -0.010098855942487717 + ], + [ + 0.05327853225593852, + 0.9930534362792969, + -0.1049106449211822, + -0.2918182611465454 + ], + [ + -0.08600843943496574, + 0.10923296958208084, + 0.9902882050714769, + 0.012445969507098198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9947947467232982, + -0.043049197643995285, + 0.0923587783581521, + -0.009553360752761364 + ], + [ + 0.05282687910330984, + 0.9929428100585938, + -0.10617841953545677, + -0.2906377613544464 + ], + [ + -0.08713609871816569, + 0.11050476878881454, + 0.9900485052719898, + 0.011831742711365223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9946557060559238, + -0.04287129640579224, + 0.09392563617631539, + -0.009454271756112576 + ], + [ + 0.05276898684786653, + 0.9930112957954409, + -0.10556537848393699, + -0.2892136573791504 + ], + [ + -0.08874350007924754, + 0.1099575757980347, + 0.9899666504588843, + 0.01168091967701912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9945736239795973, + -0.04308192804455757, + 0.09469579466736323, + -0.008554000407457352 + ], + [ + 0.05294805143648713, + 0.9931380152702332, + -0.10427532359878525, + -0.2885805070400238 + ], + [ + -0.08955361051995614, + 0.10872344672679901, + 0.9900299697708573, + 0.011166788637638092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9943789813721434, + -0.04296252131462097, + 0.09677103724855905, + -0.007985447533428669 + ], + [ + 0.0530674921278884, + 0.9931192398071289, + -0.10439372943924545, + -0.2871280610561371 + ], + [ + -0.09162016200473554, + 0.10894232243299484, + 0.9898168364664447, + 0.010710785165429115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9941156338748716, + -0.042976971715688705, + 0.09943396991830812, + -0.007649214938282967 + ], + [ + 0.053432717359405496, + 0.9930356740951538, + -0.10500069429477285, + -0.2855387032032013 + ], + [ + -0.09422886257711273, + 0.10969585180282593, + 0.9894886240744447, + 0.010215449146926403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9939230565062661, + -0.04291440546512604, + 0.10136747765989196, + -0.00664628017693758 + ], + [ + 0.05363779361240203, + 0.9929664134979248, + -0.10554941571215086, + -0.2841569483280182 + ], + [ + -0.0961249034198671, + 0.11034512519836426, + 0.9892340336083496, + 0.009897075593471527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9936012906256494, + -0.0427565798163414, + 0.10453890272935984, + -0.006563087925314903 + ], + [ + 0.05393188577303449, + 0.9928461909294128, + -0.10652574974872488, + -0.2825700640678406 + ], + [ + -0.0992363812435925, + 0.11148210614919662, + 0.9887992239379176, + 0.009410854429006577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9934680012153752, + -0.042631078511476524, + 0.10584861250571398, + -0.005718955770134926 + ], + [ + 0.05394702357955276, + 0.9928528666496279, + -0.10645630040611896, + -0.2818426191806793 + ], + [ + -0.10055374283579731, + 0.11147113889455798, + 0.9886673489163418, + 0.008590206503868103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9932066339223643, + -0.04254497960209847, + 0.10830729758728347, + -0.005405243486166 + ], + [ + 0.05418382014636482, + 0.9927929639816286, + -0.1068937764761654, + -0.28140679001808167 + ], + [ + -0.10297893509495235, + 0.11203611642122271, + 0.9883538190159514, + 0.007518270052969456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9930901765209155, + -0.04213448613882065, + 0.10952882139155287, + -0.004326718859374523 + ], + [ + 0.054056806559591566, + 0.9926509857177734, + -0.10826777881612053, + -0.27993887662887573 + ], + [ + -0.10416208583120729, + 0.11344044655561447, + 0.98806960122581, + 0.00624570157378912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.992880960367364, + -0.040995329618453986, + 0.11183367001563524, + -0.004186396021395922 + ], + [ + 0.05325001199590768, + 0.9926261901855471, + -0.10889278371625744, + -0.27870163321495056 + ], + [ + -0.10654493623571451, + 0.11407271027565005, + 0.9877426619833554, + 0.004624311812222004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.992745107035703, + -0.04069157689809799, + 0.11314330401335994, + -0.0036583440378308296 + ], + [ + 0.05326154715150852, + 0.9924597144126892, + -0.1103944332868997, + -0.2768506407737732 + ], + [ + -0.10779804215939098, + 0.1156197115778923, + 0.9874267788564183, + 0.0035872943699359894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9925010312963819, + -0.04034483805298806, + 0.11538619809478333, + -0.003582848235964775 + ], + [ + 0.05343792702835682, + 0.9921876192092898, + -0.11273053780556914, + -0.274250864982605 + ], + [ + -0.10993665796855584, + 0.11805117875337603, + 0.9869031423911316, + 0.002900261664763093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9923412364238843, + -0.03972968086600304, + 0.11696331834306813, + -0.0030696962494403124 + ], + [ + 0.053178692915126634, + 0.9920324087142947, + -0.11420910806073495, + -0.2720935344696045 + ], + [ + -0.11149390821437634, + 0.1195543706417084, + 0.986547440702549, + 0.002261603018268943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.992136340545969, + -0.03980843350291252, + 0.11866259003768691, + -0.002595930825918913 + ], + [ + 0.05362619943996359, + 0.9918438792228699, + -0.1156282560846969, + -0.2698303461074829 + ], + [ + -0.11309178038015102, + 0.12108241766691208, + 0.9861791472690654, + 0.001202767831273377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9920205210520106, + -0.04002111777663231, + 0.11955591772467224, + -0.002009147545322776 + ], + [ + 0.05331310462075205, + 0.992485761642456, + -0.11013510910023887, + -0.2707667052745819 + ], + [ + -0.1142498105994014, + 0.11563017964363098, + 0.9866998775364728, + 0.0006051251548342407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9917793878499662, + -0.04021535813808441, + 0.12147596154813217, + -0.0018870587227866054 + ], + [ + 0.053502726703450784, + 0.9926903247833252, + -0.10818192152323529, + -0.26882681250572205 + ], + [ + -0.11623743272603991, + 0.11379189044237137, + 0.9866814470308121, + 0.0005596590926870704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9914518895411581, + -0.037764713168144226, + 0.1248879883108134, + -0.00242646224796772 + ], + [ + 0.05191619075617124, + 0.9923425912857056, + -0.11207540455958023, + -0.2641652226448059 + ], + [ + -0.11969917674990216, + 0.11760107427835464, + 0.9858205438091383, + 0.00030202794005163014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9910915374058378, + -0.03930175304412842, + 0.1272515817947995, + -0.002387150889262557 + ], + [ + 0.05203122948263723, + 0.9937949180603027, + -0.09830786648597829, + -0.2680191397666931 + ], + [ + -0.12259830821443439, + 0.10405314713716507, + 0.9869866519569505, + 0.0011427124263718724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9909810425050223, + -0.03837873786687851, + 0.12838877583790742, + -0.0013919399352744222 + ], + [ + 0.05089108961672284, + 0.994114100933075, + -0.09564121073525406, + -0.26610299944877625 + ], + [ + -0.12396250602401579, + 0.10131246596574783, + 0.9871013758194794, + 0.002397429896518588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9907735137016307, + -0.0366857647895813, + 0.1304682452228868, + -0.0006844710442237556 + ], + [ + 0.049395759323651436, + 0.99419766664505, + -0.0955566582546691, + -0.26228004693984985 + ], + [ + -0.12620565559595684, + 0.10111959278583527, + 0.9868368346997505, + 0.003474494442343712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9893538170440808, + -0.037329081445932395, + 0.14066136698454232, + -0.0032123622950166464 + ], + [ + 0.049891639776121564, + 0.9949696063995364, + -0.08686949572328313, + -0.2632073760032654 + ], + [ + -0.13671101639365466, + 0.09296248853206636, + 0.9862393534375266, + 0.0017131607746705413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.987468894974328, + -0.03450113534927368, + 0.15399640389628816, + -0.0074617802165448666 + ], + [ + 0.046576660339533005, + 0.996056854724884, + -0.07550769136986922, + -0.26566368341445923 + ], + [ + -0.15078406125503432, + 0.08173413574695587, + 0.985182052166849, + -0.0024083510506898165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9884659131290641, + -0.032065413892269135, + 0.14800994152460487, + 0.000576092628762126 + ], + [ + 0.0379789559255, + 0.998582124710083, + -0.03730125413884721, + -0.2857509255409241 + ], + [ + -0.14660400506644616, + 0.04249228164553642, + 0.9882822031442335, + -0.020329169929027557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9879396683936795, + -0.033372923731803894, + 0.15119987334399107, + 0.0008703700732439756 + ], + [ + 0.03909494246352221, + 0.9986212849617004, + -0.03502999947146786, + -0.28280097246170044 + ], + [ + -0.14982237273284466, + 0.04051867499947548, + 0.9878823512968657, + -0.017403990030288696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9875407071771064, + -0.032617829740047455, + 0.1539460012140122, + 0.00013440272596199065 + ], + [ + 0.037746140352274075, + 0.9988215565681458, + -0.03050717949449292, + -0.28050678968429565 + ], + [ + -0.15276951811688846, + 0.035937950015068054, + 0.9876082178275952, + -0.012470206245779991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9874188833718232, + -0.031778447329998016, + 0.1549004046931061, + 0.0005408659344539046 + ], + [ + 0.036943836423220106, + 0.9988492727279663, + -0.030581985064744178, + -0.27542078495025635 + ], + [ + -0.1537503117616109, + 0.03591984137892723, + 0.9874566642655729, + -0.005924508906900883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9868751636889622, + -0.033016450703144073, + 0.1580738801991883, + -0.0007640010444447398 + ], + [ + 0.03766302887902789, + 0.9989393353462219, + -0.026489338506802344, + -0.2737503945827484 + ], + [ + -0.15703162897720774, + 0.03209521248936653, + 0.9870718982670059, + 0.0009662660304456949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9869167785077826, + -0.03482842445373536, + 0.15742386301369996, + -0.0008036198560148478 + ], + [ + 0.03903540444553032, + 0.9989565014839175, + -0.023710603142547658, + -0.27143996953964233 + ], + [ + -0.1564337788442107, + 0.029545497149229057, + 0.9872464255130172, + 0.0069012390449643135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9870124299474178, + -0.034312717616558075, + 0.15693658593631063, + -0.001089039258658886 + ], + [ + 0.03795648996336144, + 0.9990735650062561, + -0.020279489349658255, + -0.26986807584762573 + ], + [ + -0.15609535383775763, + 0.025972869247198105, + 0.9874004589420657, + 0.014712434262037277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9869462382970288, + -0.03393792733550072, + 0.1574337700746332, + -9.636349568609148e-05 + ], + [ + 0.03745791375599194, + 0.9991090297698975, + -0.019444742152473684, + -0.26854872703552246 + ], + [ + -0.15663357537053815, + 0.025088055059313774, + 0.9873380751990919, + 0.021695097908377647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9860439341032529, + -0.032112836837768555, + 0.1633588101166474, + -0.0015310487942770123 + ], + [ + 0.036001897889500166, + 0.9991331100463867, + -0.02090156513764882, + -0.2665855288505554 + ], + [ + -0.16254598722957458, + 0.026491088792681694, + 0.9863452734959253, + 0.02939487062394619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9857375258900385, + -0.0307228434830904, + 0.16546188478261512, + -0.0014281325275078416 + ], + [ + 0.03437781617445429, + 0.9992231130599976, + -0.019270469179531093, + -0.265979140996933 + ], + [ + -0.16474129273333515, + 0.024683844298124313, + 0.986027871837431, + 0.03562602028250694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9864549192234409, + -0.026527926325798035, + 0.1618731075437436, + -0.00473553454503417 + ], + [ + 0.03787259274132291, + 0.9970065951347351, + -0.06740519386210796, + -0.242098867893219 + ], + [ + -0.1596004484017363, + 0.07262273877859116, + 0.9845067896751428, + 0.07045099139213562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9852570534259881, + -0.029704339802265174, + 0.16848190708654937, + -0.001609960338100791 + ], + [ + 0.03271859817914026, + 0.999349892139435, + -0.015142280576373712, + -0.26710936427116394 + ], + [ + -0.1679225908099238, + 0.020431531593203548, + 0.9855884320989988, + 0.04655041545629501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9849954696905827, + -0.030931716784834862, + 0.16978548032241458, + -0.0015356707153841853 + ], + [ + 0.034152071284456936, + 0.9992873072624207, + -0.016078894272080126, + -0.26709428429603577 + ], + [ + -0.1691671273919122, + 0.02163616381585598, + 0.9853498545313168, + 0.05045290291309357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9849364999102239, + -0.03265747055411339, + 0.1698045231244253, + -0.0015689290594309568 + ], + [ + 0.03566564862706818, + 0.9992557168006897, + -0.014694742841406096, + -0.26716724038124084 + ], + [ + -0.16919825232913002, + 0.020529577508568764, + 0.9853682177909207, + 0.05319279804825783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9851160124572949, + -0.03383787348866463, + 0.16852743746665988, + -0.0013908201362937689 + ], + [ + 0.03653388726439159, + 0.9992488622665405, + -0.012921676118098477, + -0.2683567404747009 + ], + [ + -0.16796360157457935, + 0.01888631284236908, + 0.9856122620507178, + 0.0560169592499733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9850088603986066, + -0.03401286154985428, + 0.16911717619920863, + -0.0013404176570475101 + ], + [ + 0.03711217353064717, + 0.9991955161094666, + -0.015198485982365527, + -0.2689461410045624 + ], + [ + -0.16846419071198251, + 0.021246949210762978, + 0.9854787703503984, + 0.05780556797981262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9845356984784667, + -0.033431682735681534, + 0.17196462574484778, + -0.0019490283448249102 + ], + [ + 0.03706355762849332, + 0.9991516470909119, + -0.0179517980138844, + -0.2699635326862335 + ], + [ + -0.17121857051042705, + 0.02404780499637127, + 0.9849395341495459, + 0.0603301078081131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.984084498149331, + -0.03323542326688767, + 0.17456545834377102, + -0.001738902647048235 + ], + [ + 0.03752017351072549, + 0.9990687966346743, + -0.021301731299454497, + -0.2704138159751892 + ], + [ + -0.17369492632024883, + 0.027512429282069213, + 0.9844150968023369, + 0.06129538640379906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9837855200438912, + -0.032415721565485, + 0.17639522370118402, + -0.0009526837966404855 + ], + [ + 0.037353028287612194, + 0.998995840549469, + -0.02474101851791469, + -0.27077770233154297 + ], + [ + -0.17541608892789773, + 0.030928753316402435, + 0.9840084163182434, + 0.06277994811534882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9828048018427056, + -0.03173929825425149, + 0.18189933400634808, + -0.0018700305372476578 + ], + [ + 0.03725194929011042, + 0.9989418983459475, + -0.026969190482542756, + -0.27161791920661926 + ], + [ + -0.18085088537090685, + 0.033281557261943824, + 0.9829472601032047, + 0.06396514922380447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9820441941095973, + -0.03061579167842865, + 0.1861501001992739, + -0.0015004011802375317 + ], + [ + 0.03677772917115846, + 0.9988808631896973, + -0.029738504744377024, + -0.2722441852092743 + ], + [ + -0.18503130368263795, + 0.0360507071018219, + 0.9820711357128797, + 0.06562986224889755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.981603303869627, + -0.029943782836198807, + 0.18856907588281685, + -0.0007095827022567391 + ], + [ + 0.0366764156208939, + 0.9988045692443848, + -0.03231550107149979, + -0.2721441090106964 + ], + [ + -0.18737601148155247, + 0.03863704204559326, + 0.9815281137992058, + 0.06624986231327057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9812438601525433, + -0.030849430710077286, + 0.19028609740724708, + -0.0002458610397297889 + ], + [ + 0.037623659775734536, + 0.9987766146659851, + -0.03209007584379345, + -0.27185186743736267 + ], + [ + -0.18906333245450105, + 0.038647450506687164, + 0.9812040474593068, + 0.06780095398426056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9808611426365185, + -0.030617974698543556, + 0.192286042986117, + 0.00010727996414061636 + ], + [ + 0.03722450227389674, + 0.9988309741020205, + -0.030838884689708745, + -0.2722179889678955 + ], + [ + -0.19111703287403733, + 0.037406418472528465, + 0.9808542326760077, + 0.06825339794158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9804779946150776, + -0.030590660870075233, + 0.194234755186711, + -0.00022499251645058393 + ], + [ + 0.03754023699734835, + 0.9987762570381167, + -0.032198932659279714, + -0.27242565155029297 + ], + [ + -0.19301207117338914, + 0.038861960172653205, + 0.9804265062409683, + 0.06917445361614227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9804221168374354, + -0.030326236039400108, + 0.1945580289881897, + -9.671726729720831e-06 + ], + [ + 0.03804118053034966, + 0.9986260533332827, + -0.03603986607261962, + -0.2720735967159271 + ], + [ + -0.19319775629011993, + 0.04273549839854241, + 0.9802286736312085, + 0.06945454329252243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9801408602741153, + -0.030788790434598923, + 0.19589785554978395, + -0.0008851304883137345 + ], + [ + 0.039016230245899286, + 0.9985051155090332, + -0.038278298705293215, + -0.2721977233886719 + ], + [ + -0.1944264777076133, + 0.04516132175922394, + 0.9798769599857199, + 0.06992603838443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9806437472872153, + -0.029474642127752304, + 0.19356932740310362, + -0.0018623387441039085 + ], + [ + 0.038512623889989994, + 0.998328447341919, + -0.04309458807692853, + -0.27263686060905457 + ], + [ + -0.19197556371194432, + 0.049715302884578705, + 0.9801396588854917, + 0.0708807036280632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9808834292492484, + -0.026840889826416976, + 0.19273612743043758, + -0.00350562809035182 + ], + [ + 0.03681094174233182, + 0.9981526136398318, + -0.04833518833324261, + -0.27386370301246643 + ], + [ + -0.1910827249325794, + 0.05450598523020746, + 0.9800594602574825, + 0.06999099254608154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.981942432546913, + -0.02453448437154293, + 0.18758233864457272, + -0.004425543360412121 + ], + [ + 0.03607065241739629, + 0.9976451992988586, + -0.0583348865330992, + -0.273202121257782 + ], + [ + -0.18570940791832968, + 0.06404772400856018, + 0.9805151457867233, + 0.07170987874269485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9821906389311609, + -0.019333699718117714, + 0.18688976792740966, + -0.00683244364336133 + ], + [ + 0.03180475506616177, + 0.9974453449249268, + -0.06396296732646872, + -0.27332761883735657 + ], + [ + -0.18517567585779862, + 0.06876780837774277, + 0.980296353927982, + 0.07189683616161346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9833252090093606, + -0.01553149335086346, + 0.1811912647107179, + -0.008287809789180756 + ], + [ + 0.02857828384444278, + 0.9971642494201662, + -0.06961868574866946, + -0.2735157608985901 + ], + [ + -0.17959616620054036, + 0.07363595068454744, + 0.9809806206618101, + 0.073578841984272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9835442335201071, + -0.010184193029999733, + 0.18038019587490312, + -0.011366453021764755 + ], + [ + 0.024498051166361518, + 0.996706485748291, + -0.07730485768905128, + -0.2731521725654602 + ], + [ + -0.17899881676293616, + 0.08045170456171036, + 0.9805543932267503, + 0.07448021322488785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840722531269234, + -0.00522161228582263, + 0.17769227848530864, + -0.013575057499110699 + ], + [ + 0.020140298890844704, + 0.9964075088500977, + -0.08225825165640563, + -0.27192968130111694 + ], + [ + -0.17662438934202684, + 0.08452684432268143, + 0.9806421345935546, + 0.0758962482213974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/push_in/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..26a60907a83fe6bb0060c526f9277a2800e0c46e --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/push_in/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999088048934937, + -0.010517086833715439, + 0.008471570909023285, + 0.010686160097797433 + ], + [ + 0.010531477630138397, + 0.999943196773529, + -0.0016560074873268604, + -0.007273944508010795 + ], + [ + -0.008453672751784325, + 0.0017450745217502117, + 0.9999627470970154, + 0.0005654687109530311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997057318687439, + -0.02059836871922016, + 0.012811261229217052, + 0.024122796154261886 + ], + [ + 0.02061917446553707, + 0.9997862577438354, + -0.0014940064866095781, + -0.013816260364414617 + ], + [ + -0.012777748517692089, + 0.00175772444345057, + 0.9999167919158936, + 0.004737684372942764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995032548904419, + -0.02704532817006111, + 0.01617821492254734, + 0.03921086632783388 + ], + [ + 0.02704688534140587, + 0.9996341466903687, + 0.00012256260379217565, + -0.019865270624717966 + ], + [ + -0.016175610944628716, + 0.0003150685515720397, + 0.9998691082000732, + 0.009043721368184664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992049336433411, + -0.032515592873096466, + 0.02307005226612091, + 0.05069332783455615 + ], + [ + 0.032420530915260315, + 0.9994642734527588, + 0.004482893273234367, + -0.028561705488946054 + ], + [ + -0.023203454911708832, + -0.0037313858047127724, + 0.9997237920761108, + 0.015573154250485497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987839460372925, + -0.04022211953997612, + 0.02851017378270626, + 0.05958126945798839 + ], + [ + 0.03996379300951958, + 0.9991552829742432, + 0.009573672898113728, + -0.03927375111481422 + ], + [ + -0.028871161863207817, + -0.008422656916081905, + 0.9995476603507996, + 0.02303753402474877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9983645081520081, + -0.04740295559167862, + 0.03195704519748688, + 0.06897780784776994 + ], + [ + 0.04689342528581619, + 0.9987634420394897, + 0.0165100060403347, + -0.05543367466726503 + ], + [ + -0.032700151205062866, + -0.014984428882598877, + 0.9993528723716736, + 0.030496758412752116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978902339935303, + -0.052909329533576965, + 0.037626296281814575, + 0.07580339795017575 + ], + [ + 0.0521463006734848, + 0.9984190464019775, + 0.020979920402169228, + -0.0682472883573883 + ], + [ + -0.03867684304714203, + -0.018973583355545998, + 0.9990715980529785, + 0.038086737603782776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9973997473716736, + -0.056759998202323914, + 0.044407524168491364, + 0.07932027583564077 + ], + [ + 0.05548768490552902, + 0.9980270862579346, + 0.02937820367515087, + -0.08573701854769167 + ], + [ + -0.04598741978406906, + -0.02683774195611477, + 0.9985814690589905, + 0.04617174922169505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9969708323478699, + -0.06009834259748459, + 0.049370016902685165, + 0.08271397042472463 + ], + [ + 0.058355167508125305, + 0.9976457357406616, + 0.03602305054664612, + -0.10116866497726708 + ], + [ + -0.05141871050000191, + -0.03303293138742447, + 0.998130738735199, + 0.05411299276393611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9966369867324829, + -0.06270180642604828, + 0.05275636911392212, + 0.08656229349699887 + ], + [ + 0.06018466874957085, + 0.9970315098762512, + 0.04802091792225838, + -0.127163784669621 + ], + [ + -0.05561076104640961, + -0.04468429461121559, + 0.9974521398544312, + 0.060888429178849804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962052702903748, + -0.06547611951828003, + 0.05734040588140488, + 0.08923126579477236 + ], + [ + 0.06273193657398224, + 0.9968552589416504, + 0.048418331891298294, + -0.14691183552719078 + ], + [ + -0.060330331325531006, + -0.044637519866228104, + 0.9971798658370972, + 0.06636032410539114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.995691180229187, + -0.06692962348461151, + 0.06418335437774658, + 0.08958571314603299 + ], + [ + 0.06386303901672363, + 0.9967698454856873, + 0.04869750142097473, + -0.16341334489675668 + ], + [ + -0.06723533570766449, + -0.044388726353645325, + 0.996749222278595, + 0.0716345403577898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9952253103256226, + -0.0678735002875328, + 0.07014150172472, + 0.09252013963731852 + ], + [ + 0.0643550381064415, + 0.9966095685958862, + 0.05126236751675606, + -0.1825793657451868 + ], + [ + -0.07338304072618484, + -0.046503644436597824, + 0.9962190389633179, + 0.07701501832766966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9945582151412964, + -0.06883535534143448, + 0.07820295542478561, + 0.09401650149505456 + ], + [ + 0.06502748280763626, + 0.9966179728507996, + 0.050240255892276764, + -0.20030497992997404 + ], + [ + -0.08139678090810776, + -0.044881515204906464, + 0.995670735836029, + 0.08067526650595498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9935657978057861, + -0.0728846862912178, + 0.08668813854455948, + 0.08515773226435368 + ], + [ + 0.06940480321645737, + 0.9966826438903809, + 0.04250475764274597, + -0.20347911473754401 + ], + [ + -0.08949851244688034, + -0.03621470183134079, + 0.9953283667564392, + 0.08186534922439735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9935100674629211, + -0.07891405373811722, + 0.08191641420125961, + 0.08399651866484355 + ], + [ + 0.07500428706407547, + 0.9959408640861511, + 0.04976072162389755, + -0.2116813994370974 + ], + [ + -0.0855107232928276, + -0.043293699622154236, + 0.9953961968421936, + 0.08244007167282638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9938573837280273, + -0.082437664270401, + 0.07383491098880768, + 0.08497870446710319 + ], + [ + 0.07853460311889648, + 0.9954317212104797, + 0.054295171052217484, + -0.21350989398787487 + ], + [ + -0.07797357439994812, + -0.04816306009888649, + 0.9957913756370544, + 0.08209336628238638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9936672449111938, + -0.08652183413505554, + 0.07168938219547272, + 0.08235888859400382 + ], + [ + 0.08214916288852692, + 0.9946987628936768, + 0.06185344606637955, + -0.22420031914969424 + ], + [ + -0.07666102051734924, + -0.055572524666786194, + 0.9955072999000549, + 0.08205837539651177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938861131668091, + -0.08843912184238434, + 0.06609747558832169, + 0.08367573061918879 + ], + [ + 0.08441296219825745, + 0.9945366978645325, + 0.061410557478666306, + -0.22620569010870856 + ], + [ + -0.0711674615740776, + -0.05545562133193016, + 0.9959216117858887, + 0.07873076520391277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9938932061195374, + -0.09020979702472687, + 0.0635492131114006, + 0.08528738276108161 + ], + [ + 0.08593185245990753, + 0.9940381050109863, + 0.06711164116859436, + -0.23346568623206 + ], + [ + -0.06922446936368942, + -0.06124090030789375, + 0.9957196116447449, + 0.07549815252423286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9939779043197632, + -0.09098882973194122, + 0.06106537580490112, + 0.09006603555037425 + ], + [ + 0.0867745578289032, + 0.9938741326332092, + 0.06844223290681839, + -0.24198222409907755 + ], + [ + -0.06691877543926239, + -0.06273113936185837, + 0.9957844614982605, + 0.07135628253950939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9937766194343567, + -0.09030290693044662, + 0.06521844863891602, + 0.08692532628774643 + ], + [ + 0.08625409752130508, + 0.9943146109580994, + 0.062439244240522385, + -0.24048662145550434 + ], + [ + -0.07048609852790833, + -0.0564252994954586, + 0.9959155917167664, + 0.06560358611436991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936536550521851, + -0.09022460132837296, + 0.06717128306627274, + 0.08658316570457879 + ], + [ + 0.08608482033014297, + 0.9943462014198303, + 0.06216944381594658, + -0.24200685262627952 + ], + [ + -0.07240072637796402, + -0.05599246546626091, + 0.9958027005195618, + 0.05869203260415917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9934160113334656, + -0.09103531390428543, + 0.06955008208751678, + 0.08534418700875102 + ], + [ + 0.08661163598299026, + 0.9941729307174683, + 0.06417622417211533, + -0.24350343869699465 + ], + [ + -0.07498711347579956, + -0.05772984027862549, + 0.9955120086669922, + 0.05274327510928774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9933201670646667, + -0.09181094914674759, + 0.06989818066358566, + 0.08482984862440116 + ], + [ + 0.08710307627916336, + 0.9938987493515015, + 0.06766341626644135, + -0.24591380540099178 + ], + [ + -0.07568395882844925, + -0.061123088002204895, + 0.9952567219734192, + 0.04801585224385445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9931902289390564, + -0.09156160056591034, + 0.07203930616378784, + 0.08421544080430811 + ], + [ + 0.08652207255363464, + 0.9937722682952881, + 0.0702185332775116, + -0.24845771599899638 + ], + [ + -0.07801999151706696, + -0.06350736320018768, + 0.9949269890785217, + 0.04312803443859924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931355714797974, + -0.09126362204551697, + 0.0731622576713562, + 0.08306308384541865 + ], + [ + 0.08604823052883148, + 0.9937202334403992, + 0.0715252235531807, + -0.2492654185455579 + ], + [ + -0.07923045754432678, + -0.06473875790834427, + 0.9947519302368164, + 0.038126443105039896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9930651783943176, + -0.09198590368032455, + 0.07321281731128693, + 0.0836420965986652 + ], + [ + 0.08655475825071335, + 0.9934807419776917, + 0.07419058680534363, + -0.2520032242878334 + ], + [ + -0.07956001162528992, + -0.06733916699886322, + 0.9945529699325562, + 0.03350762031659797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.993091344833374, + -0.09210819005966187, + 0.07270240038633347, + 0.08492159483420265 + ], + [ + 0.08664202690124512, + 0.9934073686599731, + 0.07506635785102844, + -0.2520384567392456 + ], + [ + -0.07913733273744583, + -0.0682486742734909, + 0.9945247173309326, + 0.02945548161551669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9932083487510681, + -0.09154397249221802, + 0.07181129604578018, + 0.08372832928504144 + ], + [ + 0.08582258224487305, + 0.9931671619415283, + 0.07907898724079132, + -0.2562033893553527 + ], + [ + -0.07855982333421707, + -0.07237887382507324, + 0.9942784309387207, + 0.026209324959769742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993314802646637, + -0.09124509245157242, + 0.07071133702993393, + 0.08490795472806151 + ], + [ + 0.08572300523519516, + 0.9932965040206909, + 0.07754762470722198, + -0.2561463584120457 + ], + [ + -0.07731316238641739, + -0.07096761465072632, + 0.9944778680801392, + 0.02192583813664171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9931787848472595, + -0.09172139316797256, + 0.0719936266541481, + 0.08292219757616937 + ], + [ + 0.08604688197374344, + 0.9932079315185547, + 0.07831920683383942, + -0.25724254792386836 + ], + [ + -0.07868819683790207, + -0.07159015536308289, + 0.9943253993988037, + 0.017905899754015506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932475686073303, + -0.09110751003026962, + 0.07182364910840988, + 0.0826353557407856 + ], + [ + 0.08550821989774704, + 0.9933171272277832, + 0.07752058655023575, + -0.256848670484928 + ], + [ + -0.07840637117624283, + -0.07085562497377396, + 0.9944002628326416, + 0.014088535222869653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9931153059005737, + -0.09116356819868088, + 0.0735609233379364, + 0.07810362381534977 + ], + [ + 0.08546610921621323, + 0.9933453798294067, + 0.0772041603922844, + -0.25630526839644757 + ], + [ + -0.0801096111536026, + -0.07038567215204239, + 0.9942979216575623, + 0.0097057293436223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9933566451072693, + -0.0918126255273819, + 0.06937600672245026, + 0.08067512960283907 + ], + [ + 0.08634956181049347, + 0.9932050704956055, + 0.07802194356918335, + -0.25687049381382815 + ], + [ + -0.07606799900531769, + -0.07151302695274353, + 0.9945348501205444, + 0.004311732947826389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9933200478553772, + -0.09244798123836517, + 0.06905557960271835, + 0.07947174786896138 + ], + [ + 0.08706051111221313, + 0.9931970834732056, + 0.07733061909675598, + -0.2549161535876614 + ], + [ + -0.07573486119508743, + -0.07080203294754028, + 0.9946111440658569, + -9.68900307283492e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9934190511703491, + -0.0919349193572998, + 0.06831187754869461, + 0.0776402443074263 + ], + [ + 0.08666618168354034, + 0.9932990670204163, + 0.076458640396595, + -0.2545896843336262 + ], + [ + -0.0748833492398262, + -0.07003513723611832, + 0.9947298765182495, + -0.003511745623358476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9932799935340881, + -0.0926131159067154, + 0.06940926611423492, + 0.07412798568293764 + ], + [ + 0.08736948668956757, + 0.9933397173881531, + 0.07511843740940094, + -0.2514103405750715 + ], + [ + -0.07590393722057343, + -0.06854939460754395, + 0.9947560429573059, + -0.007255496741174816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9933192133903503, + -0.094053253531456, + 0.06686508655548096, + 0.07468303699385036 + ], + [ + 0.08891753852367401, + 0.9931328296661377, + 0.07603194564580917, + -0.2496782713993029 + ], + [ + -0.07355695962905884, + -0.06957852095365524, + 0.9948608875274658, + -0.010671739618886601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933273196220398, + -0.09483803808689117, + 0.06562494486570358, + 0.07295249767236776 + ], + [ + 0.08965705335140228, + 0.9929261207580566, + 0.07784184068441391, + -0.250039898640626 + ], + [ + -0.07254309207201004, + -0.07143869251012802, + 0.9948034882545471, + -0.012022643838520648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9931789636611938, + -0.09631174057722092, + 0.06572400033473969, + 0.06944775683479709 + ], + [ + 0.09113829582929611, + 0.9928075671195984, + 0.07763355225324631, + -0.2482239791615443 + ], + [ + -0.07272830605506897, + -0.07111404091119766, + 0.9948132634162903, + -0.014453824682460797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9929990172386169, + -0.0982501283288002, + 0.0655733197927475, + 0.06649687815379429 + ], + [ + 0.09290900081396103, + 0.9924505949020386, + 0.08006086200475693, + -0.2498950015519049 + ], + [ + -0.0729442685842514, + -0.07340800017118454, + 0.9946308135986328, + -0.015530191408795913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9930063486099243, + -0.098293736577034, + 0.06539686024188995, + 0.06425716985355724 + ], + [ + 0.09313163161277771, + 0.9926104545593262, + 0.07778797298669815, + -0.24661831664559725 + ], + [ + -0.07255968451499939, + -0.0711534395813942, + 0.9948227405548096, + -0.01586934028492941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9929366707801819, + -0.09926310926675797, + 0.06498915702104568, + 0.06095447895618585 + ], + [ + 0.09403286129236221, + 0.9924200773239136, + 0.07912136614322662, + -0.24723077164246485 + ], + [ + -0.07235037535429001, + -0.0724513977766037, + 0.9947443008422852, + -0.01576609250444632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930378794670105, + -0.10032722353935242, + 0.06172679364681244, + 0.06111275727723862 + ], + [ + 0.09532074630260468, + 0.9922818541526794, + 0.07931365817785263, + -0.24685716683735381 + ], + [ + -0.06920769810676575, + -0.07287762314081192, + 0.9949367642402649, + -0.016041610103387095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9928606152534485, + -0.10104633867740631, + 0.06338288635015488, + 0.05608431764103316 + ], + [ + 0.09572552144527435, + 0.9920234084129333, + 0.08201326429843903, + -0.2506999990114799 + ], + [ + -0.07116445153951645, + -0.07536038756370544, + 0.9946137070655823, + -0.01516586121666682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.992802619934082, + -0.10082564502954483, + 0.06463126093149185, + 0.050699083027722955 + ], + [ + 0.09553553909063339, + 0.9921823740005493, + 0.08029396086931229, + -0.2501404813171684 + ], + [ + -0.07222168892621994, + -0.07354146987199783, + 0.9946736693382263, + -0.014437857416126278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9927588105201721, + -0.10098015516996384, + 0.06506075710058212, + 0.04545908721385302 + ], + [ + 0.09560777992010117, + 0.992119312286377, + 0.08098413050174713, + -0.25319279319756516 + ], + [ + -0.0727258250117302, + -0.07417739927768707, + 0.9945896863937378, + -0.01242221259362214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.993023693561554, + -0.0996357798576355, + 0.06306058168411255, + 0.042295407253753886 + ], + [ + 0.09455606341362, + 0.9923818707466125, + 0.07897693663835526, + -0.2552124531483734 + ], + [ + -0.070449098944664, + -0.07246320694684982, + 0.9948799014091492, + -0.012211406121512391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9930843114852905, + -0.0985749289393425, + 0.06376954168081284, + 0.03488644837707906 + ], + [ + 0.09353896230459213, + 0.9925829768180847, + 0.07765021175146103, + -0.2596941380338235 + ], + [ + -0.07095091789960861, + -0.07114826887845993, + 0.9949391484260559, + -0.010600229034890662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9933575391769409, + -0.09562221169471741, + 0.06400934606790543, + 0.02872164024600199 + ], + [ + 0.09078137576580048, + 0.9930660724639893, + 0.07468918710947037, + -0.26316093532042906 + ], + [ + -0.07070746272802353, + -0.06838221102952957, + 0.9951503872871399, + -0.009787358010148663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9942342638969421, + -0.0910915955901146, + 0.05657355487346649, + 0.03587856455282731 + ], + [ + 0.0871247723698616, + 0.9938035607337952, + 0.0690200924873352, + -0.26242984424937854 + ], + [ + -0.06251014769077301, + -0.06369318068027496, + 0.996009886264801, + -0.006668099557811558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.994172990322113, + -0.08988089114427567, + 0.05951011925935745, + 0.021875865973688506 + ], + [ + 0.08577948063611984, + 0.993975818157196, + 0.06822008639574051, + -0.26888235629751134 + ], + [ + -0.06528329849243164, + -0.06271781772375107, + 0.9958938360214233, + -0.007469541730580634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994394838809967, + -0.0869470164179802, + 0.06015925481915474, + 0.010429779003810632 + ], + [ + 0.08294249325990677, + 0.9943572282791138, + 0.06613784283399582, + -0.27357034002775915 + ], + [ + -0.06557027995586395, + -0.06077737361192703, + 0.995995283126831, + -0.00239448321761785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9956403970718384, + -0.07990458607673645, + 0.048119258135557175, + 0.019224310007232886 + ], + [ + 0.07725806534290314, + 0.9955174326896667, + 0.0545552559196949, + -0.26964990608394146 + ], + [ + -0.052262771874666214, + -0.05059981718659401, + 0.9973506331443787, + 0.0005914061688459885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9952138066291809, + -0.07711166888475418, + 0.06002757325768471, + 0.005238713947990975 + ], + [ + 0.07413700968027115, + 0.9959787130355835, + 0.05030020698904991, + -0.2742709677327763 + ], + [ + -0.06366492062807083, + -0.04560919478535652, + 0.9969285726547241, + 0.016103570866626463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960020184516907, + -0.0725744217634201, + 0.05208548903465271, + 0.006796350563270646 + ], + [ + 0.07084862887859344, + 0.996898889541626, + 0.034250956028699875, + -0.2697604561524166 + ], + [ + -0.054409705102443695, + -0.030423838645219803, + 0.998055100440979, + 0.010426806799181697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967190623283386, + -0.0661657303571701, + 0.04661828652024269, + 0.005077318073139637 + ], + [ + 0.06514854729175568, + 0.9976102113723755, + 0.02301258221268654, + -0.27167618422137274 + ], + [ + -0.048029523342847824, + -0.019899964332580566, + 0.9986476898193359, + 0.009192382992355974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9972090125083923, + -0.0626349151134491, + 0.040632735937833786, + 0.002884611187476691 + ], + [ + 0.062185581773519516, + 0.9979896545410156, + 0.012230827473104, + -0.2742639325787085 + ], + [ + -0.04131712391972542, + -0.009669921360909939, + 0.9990993142127991, + 0.006765941718033151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9974756240844727, + -0.06131782382726669, + 0.03581284359097481, + 0.0005273758755326011 + ], + [ + 0.06127128750085831, + 0.9981182813644409, + 0.002396518364548683, + -0.27615863066557406 + ], + [ + -0.03589240089058876, + -0.0001961699454113841, + 0.9993556141853333, + 0.005010483382673535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9979202151298523, + -0.057653289288282394, + 0.02883320115506649, + -0.0008056200282009955 + ], + [ + 0.05796974524855614, + 0.9982656240463257, + -0.010261901654303074, + -0.2754570037159105 + ], + [ + -0.02819156087934971, + 0.011912011541426182, + 0.9995315670967102, + 0.00561262415005611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9982208013534546, + -0.05615319684147835, + 0.020050326362252235, + 0.0007317767822072951 + ], + [ + 0.056555841118097305, + 0.9981968402862549, + -0.020113246515393257, + -0.27562439151733487 + ], + [ + -0.018884750083088875, + 0.021211424842476845, + 0.9995966553688049, + 0.004159834308849343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982188940048218, + -0.057913634926080704, + 0.014320855028927326, + -0.002480344250602843 + ], + [ + 0.05833667144179344, + 0.9978113174438477, + -0.031135564669966698, + -0.27490835902183414 + ], + [ + -0.012486337684094906, + 0.031915538012981415, + 0.9994125962257385, + 0.006443629752505918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984040260314941, + -0.05583849549293518, + 0.008451756089925766, + -0.004628967935987911 + ], + [ + 0.0561390295624733, + 0.9975841045379639, + -0.04091902822256088, + -0.27451972994771034 + ], + [ + -0.006146480794996023, + 0.041328199207782745, + 0.9991267323493958, + 0.010402832883638101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982689023017883, + -0.05872952193021774, + -0.0031677251681685448, + -0.004133836747231809 + ], + [ + 0.058495014905929565, + 0.9970081448554993, + -0.05052763968706131, + -0.2735169479115443 + ], + [ + 0.006125711835920811, + 0.05025487393140793, + 0.9987176656723022, + 0.018272651698101654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9983245730400085, + -0.05586419999599457, + -0.015073796734213829, + -0.0052117583270256335 + ], + [ + 0.05491478741168976, + 0.9968409538269043, + -0.057380326092243195, + -0.2750381519015019 + ], + [ + 0.01823168434202671, + 0.056456416845321655, + 0.9982385635375977, + 0.03551629641308235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983434677124023, + -0.05327899754047394, + -0.021717403084039688, + -0.007279687185309358 + ], + [ + 0.05175776034593582, + 0.9965132474899292, + -0.0654408186674118, + -0.2757730639585248 + ], + [ + 0.025128301233053207, + 0.06420837342739105, + 0.9976201057434082, + 0.044269570340956015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998312771320343, + -0.05003432556986809, + -0.029464486986398697, + -0.008829682847888737 + ], + [ + 0.047733988612890244, + 0.996101438999176, + -0.0741845965385437, + -0.2765318631709039 + ], + [ + 0.033061396330595016, + 0.07265298068523407, + 0.9968091249465942, + 0.05569636609040566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9978516101837158, + -0.05177897959947586, + -0.04013872891664505, + -0.005094852616320123 + ], + [ + 0.048104673624038696, + 0.9949890971183777, + -0.08765082061290741, + -0.2738447468910184 + ], + [ + 0.04447606950998306, + 0.08553165197372437, + 0.9953422546386719, + 0.05721244566481222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9976634383201599, + -0.05447913333773613, + -0.04122717306017876, + -0.0065303712405941705 + ], + [ + 0.05042886361479759, + 0.9943310022354126, + -0.09360958635807037, + -0.2753328398599491 + ], + [ + 0.046093229204416275, + 0.09131182730197906, + 0.9947550296783447, + 0.059711473818112926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.997802734375, + -0.05327094718813896, + -0.0393938273191452, + -0.009082460040031196 + ], + [ + 0.0492764450609684, + 0.9941393733024597, + -0.09622251242399216, + -0.2784133456438988 + ], + [ + 0.044288814067840576, + 0.09406990557909012, + 0.9945799708366394, + 0.06070156326530488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9971879124641418, + -0.05737144500017166, + -0.04821613058447838, + -0.006371368919141018 + ], + [ + 0.051859594881534576, + 0.9927229881286621, + -0.10868126153945923, + -0.2759301359420056 + ], + [ + 0.05410046502947807, + 0.105875164270401, + 0.9929066300392151, + 0.06273778705903285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9964131116867065, + -0.06205618008971214, + -0.05753251165151596, + -0.004331681731326337 + ], + [ + 0.05554807558655739, + 0.9925392866134644, + -0.10853637754917145, + -0.279951720689977 + ], + [ + 0.06383863091468811, + 0.10495124757289886, + 0.9924262762069702, + 0.060294588383000634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969106912612915, + -0.05898837745189667, + -0.051860202103853226, + -0.008330910344171775 + ], + [ + 0.05287754535675049, + 0.9922778606414795, + -0.1121990904211998, + -0.2808976356695582 + ], + [ + 0.05807817354798317, + 0.10911022871732712, + 0.9923315644264221, + 0.06531671365345276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968762397766113, + -0.05837381258606911, + -0.05319979414343834, + -0.009514268819841888 + ], + [ + 0.052081335335969925, + 0.9922481775283813, + -0.11283236742019653, + -0.2832988142133593 + ], + [ + 0.059373851865530014, + 0.10970918834209442, + 0.9921888113021851, + 0.06626554999266054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.996816098690033, + -0.0572001077234745, + -0.05555063113570213, + -0.010406619182729221 + ], + [ + 0.05072706565260887, + 0.9924509525299072, + -0.11165939271450043, + -0.2865066405359682 + ], + [ + 0.06151820346713066, + 0.10848595201969147, + 0.9921926856040955, + 0.06784468781385389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9967480897903442, + -0.056477002799510956, + -0.057476505637168884, + -0.010696289136719245 + ], + [ + 0.04975458234548569, + 0.9924244284629822, + -0.11233069747686386, + -0.2883419255224558 + ], + [ + 0.06338518857955933, + 0.10910569876432419, + 0.9920071959495544, + 0.06913488409840143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9968408942222595, + -0.054945655167102814, + -0.05735136941075325, + -0.012435069172219797 + ], + [ + 0.04825437813997269, + 0.9925177097320557, + -0.11216117441654205, + -0.2905604262243618 + ], + [ + 0.06308501958847046, + 0.10903939604759216, + 0.9920336008071899, + 0.0700293107804927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9967246651649475, + -0.05419622361660004, + -0.06002264469861984, + -0.012759372133475083 + ], + [ + 0.04721365123987198, + 0.9925639629364014, + -0.11219444125890732, + -0.2919088766551935 + ], + [ + 0.06565683335065842, + 0.10899307578802109, + 0.9918718338012695, + 0.07022116499842254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9967198967933655, + -0.052545998245477676, + -0.061549413949251175, + -0.013032671845667846 + ], + [ + 0.04552546516060829, + 0.9928460121154785, + -0.11038196831941605, + -0.2946327576687286 + ], + [ + 0.06690922379493713, + 0.10721784085035324, + 0.9919816255569458, + 0.07103026392576578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9967301487922668, + -0.0510522685945034, + -0.06263116747140884, + -0.013254562362872221 + ], + [ + 0.04388286545872688, + 0.9928578734397888, + -0.11093951016664505, + -0.29569979277211467 + ], + [ + 0.06784755736589432, + 0.10782832652330399, + 0.9918516874313354, + 0.07125509523793118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9968020915985107, + -0.04928652197122574, + -0.06290057301521301, + -0.014009572899008131 + ], + [ + 0.04217267781496048, + 0.993058443069458, + -0.10980167239904404, + -0.2974381873136634 + ], + [ + 0.0678756833076477, + 0.10679785162210464, + 0.9919612407684326, + 0.07176076281763666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968639612197876, + -0.04813767969608307, + -0.06280920654535294, + -0.014213515690469242 + ], + [ + 0.040906794369220734, + 0.9928970336914062, + -0.11172332614660263, + -0.2976119051081734 + ], + [ + 0.06774117797613144, + 0.1088036373257637, + 0.9917524456977844, + 0.07191017100105544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996920108795166, + -0.046025775372982025, + -0.06349722295999527, + -0.014658205149942762 + ], + [ + 0.03868378698825836, + 0.992913544178009, + -0.11236671358346939, + -0.2982384298856442 + ], + [ + 0.06821901351213455, + 0.10956432670354843, + 0.9916359186172485, + 0.0722473767110622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9969062805175781, + -0.04468473792076111, + -0.06466183811426163, + -0.014451048499741754 + ], + [ + 0.03717528283596039, + 0.9928986430168152, + -0.11300549656152725, + -0.2979558053185473 + ], + [ + 0.06925227493047714, + 0.11025205999612808, + 0.9914880990982056, + 0.07189891089431263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968678951263428, + -0.043737899512052536, + -0.06588923931121826, + -0.014061425579386158 + ], + [ + 0.03616994991898537, + 0.9930534362792969, + -0.11196687072515488, + -0.29855193309225403 + ], + [ + 0.0703287273645401, + 0.10923296958208084, + 0.9915251135826111, + 0.07207615116311536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.99685138463974, + -0.043049197643995285, + -0.06658865511417389, + -0.013604558651316 + ], + [ + 0.03531789407134056, + 0.9929428100585938, + -0.11321299523115158, + -0.29752554498039757 + ], + [ + 0.07099245488643646, + 0.11050476878881454, + 0.9913368821144104, + 0.07214384672811608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9968419075012207, + -0.042871296405792236, + -0.06684467196464539, + -0.013567790030859984 + ], + [ + 0.03515176475048065, + 0.9930112957954407, + -0.11266307532787323, + -0.29614676970701953 + ], + [ + 0.07120752334594727, + 0.10995757579803467, + 0.9913823008537292, + 0.07268906126801784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9967617988586426, + -0.04308192804455757, + -0.067896269261837, + -0.012779712270606649 + ], + [ + 0.03533140942454338, + 0.9931380152702332, + -0.11148332059383392, + -0.29551897944061906 + ], + [ + 0.07223328202962875, + 0.10872344672679901, + 0.9914441704750061, + 0.07287205519167694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9967842102050781, + -0.04296252131462097, + -0.06764192879199982, + -0.012242631862995092 + ], + [ + 0.035225652158260345, + 0.9931192398071289, + -0.11168421059846878, + -0.2941571372476491 + ], + [ + 0.0719747394323349, + 0.10894232243299484, + 0.9914389848709106, + 0.07310904295450742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968405961990356, + -0.042976971715688705, + -0.06679695844650269, + -0.011899930475787683 + ], + [ + 0.03528064116835594, + 0.9930356740951538, + -0.1124076396226883, + -0.292691916633736 + ], + [ + 0.07116270065307617, + 0.10969585180282593, + 0.991414487361908, + 0.07330546197904783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9968509078025818, + -0.04291440546512604, + -0.06668339669704437, + -0.010936400803600574 + ], + [ + 0.03518497943878174, + 0.9929664134979248, + -0.11304737627506256, + -0.29142992638207815 + ], + [ + 0.0710657387971878, + 0.11034512519836426, + 0.9913493990898132, + 0.07367619777267628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9969474077224731, + -0.0427565798163414, + -0.0653281956911087, + -0.010811704847883512 + ], + [ + 0.03510236740112305, + 0.9928461909294128, + -0.11412364989519119, + -0.2899920916484369 + ], + [ + 0.06974038481712341, + 0.11148210614919662, + 0.9913163185119629, + 0.07388107654202235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9969190955162048, + -0.04263107851147652, + -0.06584007292985916, + -0.010046904620069724 + ], + [ + 0.03492018207907677, + 0.9928528666496277, + -0.11412189155817032, + -0.28934433792646114 + ], + [ + 0.07023464888334274, + 0.11147113889455795, + 0.9912826418876648, + 0.07375144310347684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9969649314880371, + -0.042544979602098465, + -0.06519826501607895, + -0.009736596756464953 + ], + [ + 0.03486871346831322, + 0.9927929639816284, + -0.11465748399496078, + -0.2890238955981665 + ], + [ + 0.0696064755320549, + 0.11203611642122269, + 0.9912632703781128, + 0.07337142437878814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9969428181648254, + -0.04213448613882065, + -0.06580029428005219, + -0.008744081272580823 + ], + [ + 0.03429344296455383, + 0.9926509857177734, + -0.11605175584554672, + -0.28772976373459075 + ], + [ + 0.07020650804042816, + 0.11344044655561447, + 0.9910612106323242, + 0.0727784821477074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9970219135284424, + -0.04099532961845398, + -0.06531979143619537, + -0.008617179076858127 + ], + [ + 0.03317640721797943, + 0.9926261901855469, + -0.11658699810504913, + -0.2866099820374609 + ], + [ + 0.06961765885353088, + 0.11407271027565002, + 0.9910301566123962, + 0.07184803572229363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9970006942749023, + -0.04069157689809799, + -0.06583213806152344, + -0.008169917135753414 + ], + [ + 0.032706283032894135, + 0.9924597144126892, + -0.11812714487314224, + -0.28494606748535917 + ], + [ + 0.07014252245426178, + 0.1156197115778923, + 0.9908138513565063, + 0.07148922264471755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.997042715549469, + -0.04034483805298805, + -0.0654071494936943, + -0.00811103550860515 + ], + [ + 0.03224236145615578, + 0.9921876192092896, + -0.12051645666360855, + -0.28259431198239326 + ], + [ + 0.06975837796926498, + 0.11805117875337601, + 0.9905542135238647, + 0.07147709183179989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9970512986183167, + -0.039729680866003036, + -0.06565253436565399, + -0.0076607825687168155 + ], + [ + 0.03149758651852608, + 0.9920324087142944, + -0.12198194861412048, + -0.2806237406663961 + ], + [ + 0.06997574865818024, + 0.11955437064170837, + 0.9903585910797119, + 0.07151744854831873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9970404505729675, + -0.03980843350291252, + -0.06576981395483017, + -0.007241211391959365 + ], + [ + 0.031453173607587814, + 0.9918438792228699, + -0.12351664155721664, + -0.2785542487629227 + ], + [ + 0.07015039771795273, + 0.12108241766691208, + 0.9901605844497681, + 0.07113718673297027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9969704151153564, + -0.04002111777663231, + -0.06669574975967407, + -0.006766466758949878 + ], + [ + 0.03193916752934456, + 0.992485761642456, + -0.11811824142932892, + -0.27919192249541513 + ], + [ + 0.07092180848121643, + 0.11563017964363098, + 0.990757167339325, + 0.07127451751050638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969696998596191, + -0.04021535813808441, + -0.06658964604139328, + -0.006683375885208639 + ], + [ + 0.032275259494781494, + 0.9926903247833252, + -0.11629349738359451, + -0.27720319728230264 + ], + [ + 0.07077968865633011, + 0.11379189044237137, + 0.9909801483154297, + 0.07193794949582642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9971702694892883, + -0.037764713168144226, + -0.06500240415334702, + -0.007153909822756595 + ], + [ + 0.029767587780952454, + 0.9923425912857056, + -0.11987525969743729, + -0.2728834233500741 + ], + [ + 0.06903170794248581, + 0.11760107427835464, + 0.990658700466156, + 0.07234993342849935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9971474409103394, + -0.03930175304412842, + -0.06443897634744644, + -0.007118684117571561 + ], + [ + 0.032291263341903687, + 0.9937949180603027, + -0.10643758624792099, + -0.2758344870086733 + ], + [ + 0.06822230666875839, + 0.10405314713716507, + 0.992229163646698, + 0.07399869996686369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9971386790275574, + -0.03837873786687851, + -0.06512725353240967, + -0.006219554532781712 + ], + [ + 0.03149186074733734, + 0.994114100933075, + -0.10366005450487137, + -0.2737868916008856 + ], + [ + 0.06872226297855377, + 0.10131246596574783, + 0.9924782514572144, + 0.0759657478367037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9972189664840698, + -0.0366857647895813, + -0.06487257778644562, + -0.005538573018454302 + ], + [ + 0.029851756989955902, + 0.99419766664505, + -0.10334354639053345, + -0.2700127458655751 + ], + [ + 0.06828740239143372, + 0.10111959278583527, + 0.9925279021263123, + 0.07774056823780903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.997708797454834, + -0.03732908144593239, + -0.056424736976623535, + -0.00747381096178262 + ], + [ + 0.031855206936597824, + 0.9949696063995361, + -0.09497752785682678, + -0.2703805039812635 + ], + [ + 0.0596863254904747, + 0.09296248853206635, + 0.9938790202140808, + 0.07677535251111861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9983997344970703, + -0.03450113534927368, + -0.044807154685258865, + -0.010877150748498165 + ], + [ + 0.030684346333146095, + 0.996056854724884, + -0.08324222266674042, + -0.2720087199673786 + ], + [ + 0.04750242456793785, + 0.08173413574695587, + 0.9955214858055115, + 0.0734740559093107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9980954527854919, + -0.032065413892269135, + -0.052699822932481766, + -0.0034777399045057026 + ], + [ + 0.029750216752290726, + 0.998582124710083, + -0.04414418712258339, + -0.28914663224266124 + ], + [ + 0.05404059961438179, + 0.04249228164553642, + 0.99763423204422, + 0.05641192484360476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9981256723403931, + -0.033372923731803894, + -0.05129651352763176, + -0.0031113872705092593 + ], + [ + 0.031220754608511925, + 0.9986212849617004, + -0.04219928756356239, + -0.28607658149635457 + ], + [ + 0.0526341013610363, + 0.04051867499947548, + 0.9977915287017822, + 0.06004696079901049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9981986284255981, + -0.032617829740047455, + -0.05035392567515373, + -0.003809401243001099 + ], + [ + 0.03074379824101925, + 0.9988215565681458, + -0.03755366802215576, + -0.28344805599092604 + ], + [ + 0.05151950940489769, + 0.035937950015068054, + 0.9980251789093018, + 0.0656968007736898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9981815814971924, + -0.031778447329998016, + -0.05122223123908043, + -0.0035067649256972063 + ], + [ + 0.02987443283200264, + 0.9988492727279663, + -0.03751830384135246, + -0.2783855180510066 + ], + [ + 0.0523555614054203, + 0.03591984137892723, + 0.9979823231697083, + 0.07293703131560055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9982117414474487, + -0.033016450703144073, + -0.049832314252853394, + -0.004736647075791095 + ], + [ + 0.031357258558273315, + 0.9989393353462219, + -0.03371811285614967, + -0.2764384119712806 + ], + [ + 0.05089271068572998, + 0.03209521248936653, + 0.9981882572174072, + 0.08054211310931593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9980236887931824, + -0.03482842445373535, + -0.05230408161878586, + -0.005009892154029095 + ], + [ + 0.03321826457977295, + 0.9989565014839172, + -0.03134489431977272, + -0.27396071278913453 + ], + [ + 0.05334119498729706, + 0.02954549714922905, + 0.9981391429901123, + 0.08717117012458872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979170560836792, + -0.034312717616558075, + -0.05462763085961342, + -0.005520371552165989 + ], + [ + 0.032829344272613525, + 0.9990735650062561, + -0.027824215590953827, + -0.2721251450843744 + ], + [ + 0.05553175136446953, + 0.025972869247198105, + 0.998119056224823, + 0.09567873532642851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9978563785552979, + -0.03393792733550072, + -0.055954597890377045, + -0.004674466959444214 + ], + [ + 0.032468605786561966, + 0.9991090297698975, + -0.02696262113749981, + -0.27075475967404516 + ], + [ + 0.056819796562194824, + 0.025088055059313774, + 0.998069167137146, + 0.10335530249232597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9981409907341003, + -0.032112836837768555, + -0.05180061236023903, + -0.005805504919107926 + ], + [ + 0.030684741213917732, + 0.9991331100463867, + -0.028132876381278038, + -0.268906982985514 + ], + [ + 0.052659135311841965, + 0.026491088792681694, + 0.9982610940933228, + 0.11176886300367493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9981998801231384, + -0.0307228434830904, + -0.05150829628109932, + -0.0057144872529979246 + ], + [ + 0.029400041326880455, + 0.9992231130599976, + -0.02624543383717537, + -0.2681632015749916 + ], + [ + 0.052274610847234726, + 0.024683844298124313, + 0.9983276128768921, + 0.11870363282261195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9980219602584839, + -0.026527926325798035, + -0.05699453875422478, + -0.009518293041892193 + ], + [ + 0.022272776812314987, + 0.9970065951347351, + -0.07403861731290817, + -0.24831189871667983 + ], + [ + 0.05878802016377449, + 0.07262273877859116, + 0.995625376701355, + 0.1539999740523892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9981994032859802, + -0.029704339802265167, + -0.05211108922958374, + -0.006019360195988646 + ], + [ + 0.028592098504304886, + 0.9993498921394348, + -0.021961038932204247, + -0.26896760602696584 + ], + [ + 0.05272954702377319, + 0.020431531593203545, + 0.9983997941017151, + 0.13103039803413247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9981359839439392, + -0.030931716784834862, + -0.052609335631132126, + -0.0060240196293688845 + ], + [ + 0.029742250218987465, + 0.9992873072624207, + -0.023244211450219154, + -0.26907735688129925 + ], + [ + 0.053290825337171555, + 0.02163616381585598, + 0.9983446002006531, + 0.1356263583148276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.997984766960144, + -0.03265747055411339, + -0.05440486967563629, + -0.006248508758803869 + ], + [ + 0.03148407116532326, + 0.9992557168006897, + -0.02228737808763981, + -0.2690842666083595 + ], + [ + 0.055092230439186096, + 0.020529577508568764, + 0.9982702136039734, + 0.13905799823936882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9977709650993347, + -0.03383787348866463, + -0.05751657485961914, + -0.006378271382862142 + ], + [ + 0.032688241451978683, + 0.9992488622665405, + -0.02081282064318657, + -0.2701614885584458 + ], + [ + 0.058177635073661804, + 0.01888631284236908, + 0.9981275796890259, + 0.14256788224398673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9976934194564819, + -0.03401286154985428, + -0.05874449014663696, + -0.006475425536998294 + ], + [ + 0.032696790993213654, + 0.9991955161094666, + -0.023221267387270927, + -0.2709759720698833 + ], + [ + 0.059487052261829376, + 0.021246949210762978, + 0.9980029463768005, + 0.1450435877679945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.997774600982666, + -0.033431682735681534, + -0.05769072473049164, + -0.0070322670273717264 + ], + [ + 0.03197738900780678, + 0.9991516470909119, + -0.02595035545527935, + -0.2722500675025728 + ], + [ + 0.05850934982299805, + 0.02404780499637127, + 0.9979971647262573, + 0.14826552232245466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9978275299072266, + -0.033235423266887665, + -0.056882504373788834, + -0.006790705483042069 + ], + [ + 0.031602270901203156, + 0.9990687966346741, + -0.029373859986662865, + -0.27302254340057813 + ], + [ + 0.05780578777194023, + 0.027512429282069206, + 0.9979486465454102, + 0.14992439207601382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9978557825088501, + -0.032415721565485, + -0.05686001852154732, + -0.006042251888079686 + ], + [ + 0.030587265267968178, + 0.998995840549469, + -0.03273814171552658, + -0.2737081094221635 + ], + [ + 0.057864148169755936, + 0.030928753316402435, + 0.9978452324867249, + 0.15209756333094376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9980843663215637, + -0.03173929825425148, + -0.05310596898198128, + -0.006660708857999815 + ], + [ + 0.02990765869617462, + 0.9989418983459473, + -0.034936755895614624, + -0.2747695566265733 + ], + [ + 0.05415864661335945, + 0.03328155726194382, + 0.9979775547981262, + 0.15399249507622287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9982484579086304, + -0.03061579167842865, + -0.05062287300825119, + -0.006102480544624003 + ], + [ + 0.02872990444302559, + 0.9988808631896973, + -0.03757090121507645, + -0.27565972168337216 + ], + [ + 0.051716484129428864, + 0.0360507071018219, + 0.9980108737945557, + 0.1563581235029481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9983004331588745, + -0.029943782836198807, + -0.04999587684869766, + -0.005289624567417155 + ], + [ + 0.027950525283813477, + 0.9988045692443848, + -0.04010260850191116, + -0.2758178444748575 + ], + [ + 0.05113693326711655, + 0.03863704204559326, + 0.9979439973831177, + 0.15766990682878695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9982691407203674, + -0.030849430710077286, + -0.050070296972990036, + -0.004867734606467331 + ], + [ + 0.028850726783275604, + 0.9987766146659851, + -0.04016152769327164, + -0.27555908537828006 + ], + [ + 0.05124800279736519, + 0.038647450506687164, + 0.9979378581047058, + 0.15991829473238725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9982865452766418, + -0.03061797469854355, + -0.04986458644270897, + -0.004530475278433015 + ], + [ + 0.028691422194242477, + 0.9988309741020203, + -0.03890376165509224, + -0.2758363108560964 + ], + [ + 0.05099744722247124, + 0.03740641847252846, + 0.9979979991912842, + 0.16107419087336614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9982951879501343, + -0.030590660870075226, + -0.04970870912075043, + -0.004883011413080345 + ], + [ + 0.028596118092536926, + 0.9987762570381165, + -0.0403522327542305, + -0.2762069097244656 + ], + [ + 0.05088227987289429, + 0.0388619601726532, + 0.9979482889175415, + 0.16268848908114267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9982274174690247, + -0.0303262360394001, + -0.05120914801955223, + -0.004844101784519618 + ], + [ + 0.02806825190782547, + 0.9986260533332825, + -0.04425128921866417, + -0.276251165977829 + ], + [ + 0.05248076096177101, + 0.042735498398542404, + 0.9977070689201355, + 0.16364367217659118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9981895685195923, + -0.030788790434598923, + -0.051668763160705566, + -0.005799082788912307 + ], + [ + 0.028380580246448517, + 0.9985051155090332, + -0.046712279319763184, + -0.27664028981348854 + ], + [ + 0.05302973836660385, + 0.04516132175922394, + 0.9975712299346924, + 0.1647999455670377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9980025291442871, + -0.029474642127752304, + -0.055876608937978745, + -0.007215552327672501 + ], + [ + 0.026611793786287308, + 0.998328447341919, + -0.051304757595062256, + -0.2775520716513787 + ], + [ + 0.05729539319872856, + 0.049715302884578705, + 0.9971186518669128, + 0.16640885419153667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9979223608970642, + -0.02684088982641697, + -0.05857028439640999, + -0.009157865325809568 + ], + [ + 0.023560186848044395, + 0.9981526136398315, + -0.056002262979745865, + -0.27926811720212025 + ], + [ + 0.059965234249830246, + 0.05450598523020744, + 0.996711254119873, + 0.16617711357303433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9975409507751465, + -0.02453448437154293, + -0.0656515508890152, + -0.010807057747526185 + ], + [ + 0.020223861560225487, + 0.9976451992988586, + -0.06553660333156586, + -0.2795724624207803 + ], + [ + 0.06710486114025116, + 0.06404772400856018, + 0.9956881403923035, + 0.1684935511304782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9974836111068726, + -0.019333699718117714, + -0.06821057200431824, + -0.013510401741686193 + ], + [ + 0.01455052848905325, + 0.9974453449249268, + -0.06993629783391953, + -0.28017452911480323 + ], + [ + 0.06938844919204712, + 0.06876780837774277, + 0.9952166676521301, + 0.16933063579189195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9969993233680725, + -0.015531493350863457, + -0.0758359432220459, + -0.015765339855130737 + ], + [ + 0.009859103709459305, + 0.997164249420166, + -0.0746074914932251, + -0.28087216390596403 + ], + [ + 0.07677966356277466, + 0.07363595068454742, + 0.9943252205848694, + 0.17162069939858432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.99686199426651, + -0.010184193029999733, + -0.07850120216608047, + -0.019161677292802118 + ], + [ + 0.003803637344390154, + 0.996706485748291, + -0.08100449293851852, + -0.28119597536075364 + ], + [ + 0.07906762510538101, + 0.08045170456171036, + 0.9936175346374512, + 0.17314712925182357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9965309500694275, + -0.00522161228582263, + -0.08305907994508743, + -0.021880965493619443 + ], + [ + -0.0018359672976657748, + 0.9964075088500977, + -0.08466806262731552, + -0.2803964875638485 + ], + [ + 0.0832028016448021, + 0.08452684432268143, + 0.9929413199424744, + 0.17519038021564484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/tilt_down/transforms.json b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd6b6295be18a64b4dfd859b13aa3d093e9dc16 --- /dev/null +++ b/dynpose_eval/camera_controls/a7b42bca-c239-4b6a-8bd1-d05d3e4f1ef9/tilt_down/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 8.071972115430981e-05, + 5.340834104572423e-05, + -0.00010702588770072907 + ], + [ + -8.070238982327282e-05, + 0.9999999403953552, + -0.0003243545943405479, + 0.0004067982954438776 + ], + [ + -5.343451994122006e-05, + 0.0003243502869736403, + 0.9999999403953552, + 4.2115498217754066e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999088048934937, + -0.010532578655083637, + 0.008452302408752116, + 0.010680235922336578 + ], + [ + 0.010531477630138397, + 0.9999445527778109, + 0.00017465522154347122, + -0.00727278646081686 + ], + [ + -0.008453672751784325, + -8.562412841008025e-05, + 0.9999642661292475, + -0.0001338059373665601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997057318687441, + -0.02064513935147942, + 0.012735753975881595, + 0.024104878306388855 + ], + [ + 0.020619174465537075, + 0.9997850261207186, + 0.0021667426241173157, + -0.013814170844852924 + ], + [ + -0.012777748517692093, + -0.0019035043887873557, + 0.9999165250267813, + 0.003339199349284172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995032548904419, + -0.027133775335590055, + 0.016029430742985216, + 0.039176926016807556 + ], + [ + 0.02704688534140587, + 0.9996183964483801, + 0.0056128186272674675, + -0.019865527749061584 + ], + [ + -0.016175610944628716, + -0.005176484543926313, + 0.9998557580015072, + 0.0069460938684642315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992049336433413, + -0.03268366287912512, + 0.022831322174902868, + 0.050628796219825745 + ], + [ + 0.03242053091526032, + 0.99940464613278, + 0.011801844294992281, + -0.028574245050549507 + ], + [ + -0.023203454911708835, + -0.011052257430414646, + 0.9996696610824771, + 0.012776724062860012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987839460372925, + -0.04048140788532478, + 0.028140798230153415, + 0.059481583535671234 + ], + [ + 0.03996379300951958, + 0.9990257879032212, + 0.018719236428024765, + -0.03930722549557686 + ], + [ + -0.028871161863207817, + -0.017571860372493912, + 0.9994286848921904, + 0.01954261213541031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9983645081520081, + -0.04775112374153313, + 0.03143442568270758, + 0.06884372234344482 + ], + [ + 0.04689342528581619, + 0.998521834647057, + 0.027479795979896898, + -0.05550294741988182 + ], + [ + -0.032700151205062866, + -0.025960785380377924, + 0.9991279869210382, + 0.026303669437766075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978902339935303, + -0.053387165988057435, + 0.03694517331591688, + 0.07561921328306198 + ], + [ + 0.0521463006734848, + 0.9980682029282506, + 0.03377294156403783, + -0.06834998726844788 + ], + [ + -0.03867684304714203, + -0.03177513172078175, + 0.998746412211633, + 0.03319617733359337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9973997473716738, + -0.05740428520860211, + 0.04357147734920663, + 0.07907184213399887 + ], + [ + 0.055487684905529036, + 0.9974897840637447, + 0.043991754274477914, + -0.08590137213468552 + ], + [ + -0.04598741978406907, + -0.04145968429281689, + 0.9980813139818092, + 0.04058527946472168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9969708323478701, + -0.060903612062407776, + 0.0483731267305287, + 0.08240325003862381 + ], + [ + 0.05835516750812532, + 0.9969167937307803, + 0.05245551057566334, + -0.101395383477211 + ], + [ + -0.05141871050000192, + -0.04947378827434103, + 0.997450996509556, + 0.04783105105161667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9966369867324829, + -0.06365708999799008, + 0.05159966961291338, + 0.08619336783885956 + ], + [ + 0.06018466874957085, + 0.9959853259786683, + 0.06626515433754922, + -0.12749959528446198 + ], + [ + -0.05561076104640961, + -0.0629367904949952, + 0.9964669677853224, + 0.053913239389657974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962052702903748, + -0.06661750966655304, + 0.05601028280274125, + 0.08879018574953079 + ], + [ + 0.06273193657398224, + 0.9956781230605184, + 0.06848224150423116, + -0.14728428423404694 + ], + [ + -0.060330331325531006, + -0.06470873274459732, + 0.9960787985482309, + 0.05868970975279808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.995691180229187, + -0.06832341471867451, + 0.06269759548939077, + 0.08904711157083511 + ], + [ + 0.06386303901672363, + 0.9954595541595219, + 0.07058220417876246, + -0.1638219952583313 + ], + [ + -0.06723533570766449, + -0.06627401583515453, + 0.9955335885671384, + 0.0632702112197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9952253103256228, + -0.06952348439553015, + 0.06850640424796132, + 0.09188248962163925 + ], + [ + 0.06435503810644151, + 0.9951073971595205, + 0.07496486282723415, + -0.1830453872680664 + ], + [ + -0.07338304072618486, + -0.07019819373662749, + 0.9948302247795839, + 0.06795848160982132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9945582151412964, + -0.0708169242265406, + 0.07641316395258715, + 0.09325087815523148 + ], + [ + 0.06502748280763626, + 0.9950030826146787, + 0.07576498339368466, + -0.20079684257507324 + ], + [ + -0.08139678090810776, + -0.07038372707901255, + 0.9941934900057507, + 0.0709274411201477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9935657978057861, + -0.07523749054305401, + 0.08465418404824317, + 0.08424841612577438 + ], + [ + 0.06940480321645737, + 0.9951397554835212, + 0.06985566627544101, + -0.2039249688386917 + ], + [ + -0.08949851244688034, + -0.06353079631056831, + 0.9939587014654676, + 0.07142484188079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9935100674629211, + -0.08127937270650075, + 0.07957003434341674, + 0.08307997137308121 + ], + [ + 0.07500428706407547, + 0.9940562239157393, + 0.07890854115735307, + -0.2122381627559662 + ], + [ + -0.0855107232928276, + -0.07242834118204172, + 0.9937011967933289, + 0.07130277156829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9938573837280273, + -0.08469533450118422, + 0.07123386052164389, + 0.08410094678401947 + ], + [ + 0.07853460311889648, + 0.9932600959030207, + 0.08524470117473508, + -0.21415536105632782 + ], + [ + -0.07797357439994812, + -0.0791267516091206, + 0.993810395060856, + 0.07025528699159622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9936672449111938, + -0.08883686694369898, + 0.06879975561940714, + 0.0814565047621727 + ], + [ + 0.08214916288852692, + 0.992120779478366, + 0.09459300513112362, + -0.22497889399528503 + ], + [ + -0.07666102051734924, + -0.08834213332869671, + 0.9931358200825671, + 0.0695275142788887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938861131668093, + -0.09068432943441623, + 0.0629817985328393, + 0.08279751241207123 + ], + [ + 0.08441296219825746, + 0.9917993749455443, + 0.09596092864680447, + -0.22702163457870483 + ], + [ + -0.07116746157407762, + -0.09005775863675511, + 0.9933905490132454, + 0.0654982402920723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9938932061195374, + -0.09247568608123712, + 0.06020429760511386, + 0.08439858257770538 + ], + [ + 0.08593185245990753, + 0.9909150721249742, + 0.1034555287538168, + -0.2344043105840683 + ], + [ + -0.06922446936368942, + -0.09765027795795858, + 0.9928103626066844, + 0.06157200410962105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9939779043197632, + -0.09326873775150173, + 0.057522950345262995, + 0.08916927129030228 + ], + [ + 0.0867745578289032, + 0.990509014227551, + 0.10659279289262766, + -0.24298731982707977 + ], + [ + -0.06691877543926239, + -0.10095934614495758, + 0.9926374464188827, + 0.05673287436366081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9937766194343567, + -0.09285575325473701, + 0.06152942491565501, + 0.08592196553945541 + ], + [ + 0.08625409752130508, + 0.9909940451215112, + 0.10242561847403275, + -0.24144722521305084 + ], + [ + -0.07048609852790833, + -0.09648101604449812, + 0.9928358846207818, + 0.05028180778026581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936536550521851, + -0.09297221216322377, + 0.06331372457145201, + 0.08550278842449188 + ], + [ + 0.08608482033014297, + 0.9908477869869303, + 0.10397149150383828, + -0.24300678074359894 + ], + [ + -0.07240072637796402, + -0.0978612999398587, + 0.9925630158962823, + 0.042675625532865524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9934160113334656, + -0.09400238586538809, + 0.06548430153591618, + 0.0841769129037857 + ], + [ + 0.08661163598299026, + 0.99039452947937, + 0.10778255841130775, + -0.24458052217960358 + ], + [ + -0.07498711347579956, + -0.10140121410234086, + 0.9920154674385658, + 0.03603538125753403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.993320167064667, + -0.09491286421245199, + 0.06562434190370664, + 0.08360785245895386 + ], + [ + 0.08710307627916337, + 0.9897621010620318, + 0.11306655192671827, + -0.2470967322587967 + ], + [ + -0.07568395882844926, + -0.10659520436737684, + 0.9914178921756853, + 0.030616259202361107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9931902289390566, + -0.09488566053049444, + 0.06760103369359859, + 0.08290563523769379 + ], + [ + 0.08652207255363466, + 0.9893055290462996, + 0.11742458791423736, + -0.24973441660404205 + ], + [ + -0.07801999151706697, + -0.11077596314340395, + 0.9907782722522457, + 0.025038452818989754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931355714797974, + -0.09476713411967018, + 0.06856351031839995, + 0.08168169856071472 + ], + [ + 0.08604823052883148, + 0.9889723588677993, + 0.12053809915804573, + -0.2506158947944641 + ], + [ + -0.07923045754432678, + -0.11381089949645667, + 0.9903381183420109, + 0.01934441365301609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9930651783943178, + -0.09561642239047355, + 0.068403383423544, + 0.0822085589170456 + ], + [ + 0.08655475825071336, + 0.9883742773520013, + 0.12499806286489196, + -0.25345590710639954 + ], + [ + -0.07956001162528993, + -0.11821058279588985, + 0.9897961565538761, + 0.014033855870366096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.993091344833374, + -0.09583652024943035, + 0.0677120305742049, + 0.08344721049070358 + ], + [ + 0.08664202690124512, + 0.9880240343542332, + 0.1276779766730948, + -0.25356078147888184 + ], + [ + -0.07913733273744583, + -0.12092919422872214, + 0.9895016042965531, + 0.009286798536777496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9932083487510681, + -0.09534804011753852, + 0.066677675313218, + 0.08222179859876633 + ], + [ + 0.08582258224487305, + 0.9873285111723198, + 0.13347999403756977, + -0.257862389087677 + ], + [ + -0.07855982333421707, + -0.12685098711854922, + 0.9888059095056017, + 0.0053503368981182575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9933148026466372, + -0.0951091593337547, + 0.0654217692506353, + 0.08337505161762238 + ], + [ + 0.08572300523519517, + 0.9872984838924681, + 0.13376577552233923, + -0.2578274607658386 + ], + [ + -0.0773131623864174, + -0.12726337048557382, + 0.9888511854485914, + 0.0003672270104289055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9931787848472595, + -0.09577933464924367, + 0.06649973907947955, + 0.08131115138530731 + ], + [ + 0.08604688197374344, + 0.9869183383393589, + 0.1363381342102285, + -0.2589951455593109 + ], + [ + -0.07868819683790207, + -0.12968605579526535, + 0.9884278816215011, + -0.004344738554209471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932475686073303, + -0.09527789333092214, + 0.06619167619561458, + 0.08097788691520691 + ], + [ + 0.08550821989774704, + 0.9868242974549086, + 0.13735415004933352, + -0.25863760709762573 + ], + [ + -0.07840637117624283, + -0.13076674643419758, + 0.9883078773029511, + -0.008859163150191307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9931153059005737, + -0.09556293316355816, + 0.06774755651846501, + 0.07635462284088135 + ], + [ + 0.08546610921621323, + 0.9866190620972468, + 0.13884650631778503, + -0.25814089179039 + ], + [ + -0.0801096111536026, + -0.13210047679840536, + 0.987993908830655, + -0.01393492054194212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9933566451072693, + -0.09606655563107824, + 0.06335460049724624, + 0.07897711545228958 + ], + [ + 0.08634956181049347, + 0.986170827051534, + 0.14145966071282368, + -0.2587801218032837 + ], + [ + -0.07606799900531769, + -0.13504925147812577, + 0.9879146627130482, + -0.020030029118061066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9933200478553772, + -0.09679525495857987, + 0.06281704328301366, + 0.07773328572511673 + ], + [ + 0.08706051111221313, + 0.9859477559666169, + 0.1425745200727042, + -0.25686293840408325 + ], + [ + -0.07573486119508743, + -0.13615323803488136, + 0.987788718067844, + -0.025136051699519157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9934190511703491, + -0.09634787207823793, + 0.061932459643199746, + 0.07587273418903351 + ], + [ + 0.08666618168354034, + 0.985845854237283, + 0.14351624269777652, + -0.25656798481941223 + ], + [ + -0.0748833492398262, + -0.13720431745847497, + 0.9877081668977168, + -0.029249511659145355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9932799935340881, + -0.09721393308355787, + 0.06280355622807446, + 0.0722835436463356 + ], + [ + 0.08736948668956757, + 0.985715171266614, + 0.14398671784034647, + -0.25340649485588074 + ], + [ + -0.07590393722057343, + -0.13753201822489733, + 0.9875847044502687, + -0.03368957340717316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9933192133903503, + -0.09858371728033907, + 0.05998503969419774, + 0.07285944372415543 + ], + [ + 0.08891753852367401, + 0.9851783841399334, + 0.14668750983906884, + -0.2517518699169159 + ], + [ + -0.07355695962905884, + -0.14037380596975002, + 0.9873624211542601, + -0.03780430927872658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933273196220398, + -0.09938531655236205, + 0.05851021885606008, + 0.07111683487892151 + ], + [ + 0.08965705335140228, + 0.9845696067673143, + 0.15028081339557825, + -0.25221729278564453 + ], + [ + -0.07254309207201004, + -0.1440321845956992, + 0.9869104299943141, + -0.03984931483864784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9931789636611938, + -0.10096924951994962, + 0.05831643202728471, + 0.06756336241960526 + ], + [ + 0.09113829582929611, + 0.9841902280036842, + 0.1518664836869863, + -0.2504498362541199 + ], + [ + -0.07272830605506897, + -0.145515738831016, + 0.9866791807047276, + -0.042976442724466324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9929990172386169, + -0.10299692950997777, + 0.05783234818667067, + 0.06457094848155975 + ], + [ + 0.09290900081396103, + 0.9833681723623531, + 0.15606076550844064, + -0.2522464394569397 + ], + [ + -0.0729442685842514, + -0.14959503768427712, + 0.9860529978399999, + -0.0447431243956089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9930063486099243, + -0.1031322304083476, + 0.057464345735178626, + 0.06229069083929062 + ], + [ + 0.09313163161277771, + 0.9834189221735008, + 0.15560754079723027, + -0.24895739555358887 + ], + [ + -0.07255968451499939, + -0.14916753257845627, + 0.9861461069809587, + -0.04578359052538872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9929366707801821, + -0.1041706840590417, + 0.05679105540735955, + 0.058954812586307526 + ], + [ + 0.09403286129236224, + 0.9828353399660037, + 0.1587214382806669, + -0.2496652752161026 + ], + [ + -0.07235037535429002, + -0.1522601208576656, + 0.9856887362115891, + -0.04637360945343971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930378794670105, + -0.10506652164380113, + 0.053261382508380514, + 0.059170305728912354 + ], + [ + 0.09532074630260468, + 0.9823895330812229, + 0.1607007770568932, + -0.2493530511856079 + ], + [ + -0.06920769810676575, + -0.15450504687499853, + 0.9855650680100716, + -0.04735080897808075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9928606152534485, + -0.10601972453763002, + 0.05465867590008746, + 0.0540454275906086 + ], + [ + 0.09572552144527435, + 0.9816090725524989, + 0.16516733043408563, + -0.25333818793296814 + ], + [ + -0.07116445153951645, + -0.15875591624552013, + 0.9847498024135558, + -0.04716042801737785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.992802619934082, + -0.10600702191987603, + 0.05572720959187969, + 0.048574838787317276 + ], + [ + 0.09553553909063339, + 0.9816111792147232, + 0.1652648670169474, + -0.2527795135974884 + ], + [ + -0.07222168892621994, + -0.1587514594588143, + 0.9846735653938323, + -0.047129929065704346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9927588105201721, + -0.10630047572461014, + 0.055947320877522765, + 0.04327522963285446 + ], + [ + 0.09560777992010117, + 0.9811835830330253, + 0.16774366036065838, + -0.2559111416339874 + ], + [ + -0.0727258250117302, + -0.16118000316907677, + 0.9842418084103172, + -0.045807041227817535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9930236935615542, + -0.10488456422496432, + 0.053880922203662876, + 0.04013459011912346 + ], + [ + 0.09455606341362002, + 0.9813161612839972, + 0.16756409373778486, + -0.25791865587234497 + ], + [ + -0.07044909894466402, + -0.1613003474762293, + 0.9843876942002822, + -0.046301696449518204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9930843114852905, + -0.10399142861219643, + 0.05449177769876667, + 0.03265674412250519 + ], + [ + 0.09353896230459213, + 0.9813292870854626, + 0.16805758406699492, + -0.26240918040275574 + ], + [ + -0.07095091789960861, + -0.16179824162281675, + 0.9842699397233117, + -0.04538831114768982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9933575391769409, + -0.10117351766628876, + 0.05481535438596913, + 0.026438789442181587 + ], + [ + 0.09078137576580048, + 0.9817770266030437, + 0.16695079809516705, + -0.26582467555999756 + ], + [ + -0.07070746272802353, + -0.1608656212186191, + 0.98444028361957, + -0.04527873545885086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9942342638969421, + -0.09605678407426507, + 0.04765857878162256, + 0.03382134437561035 + ], + [ + 0.0871247723698616, + 0.9827427643633134, + 0.16317459846950225, + -0.26493966579437256 + ], + [ + -0.06251014769077301, + -0.15808153190676913, + 0.9854454546408955, + -0.0428866408765316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.994172990322113, + -0.09522335467096725, + 0.050522684136526844, + 0.01967024616897106 + ], + [ + 0.08577948063611984, + 0.9826913337060598, + 0.16419393998596685, + -0.2714107930660248 + ], + [ + -0.06528329849243164, + -0.1589033671465139, + 0.985133380408458, + -0.04438029229640961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9943948388099673, + -0.09246021090221306, + 0.051283808402875025, + 0.008158030919730663 + ], + [ + 0.08294249325990678, + 0.9829741524577549, + 0.16395830959611252, + -0.276067852973938 + ], + [ + -0.06557027995586397, + -0.15878569105820425, + 0.9851332891894523, + -0.04000549390912056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9956403970718386, + -0.08433690059310081, + 0.03984335676069984, + 0.017373569309711456 + ], + [ + 0.07725806534290315, + 0.9849909688538762, + 0.15435033532127965, + -0.2717481851577759 + ], + [ + -0.05226277187466623, + -0.15059920852750086, + 0.9872124924876611, + -0.03776823356747627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9952138066291811, + -0.08285018769647574, + 0.05182051165375939, + 0.0028879838064312935 + ], + [ + 0.07413700968027116, + 0.985601073232387, + 0.15196786530818152, + -0.2762407660484314 + ], + [ + -0.06366492062807085, + -0.14739869676954576, + 0.9870260390764743, + -0.02293698862195015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960020184516909, + -0.07760507329920219, + 0.04424248479119557, + 0.0047202156856656075 + ], + [ + 0.07084862887859346, + 0.987908134204999, + 0.13790591840020885, + -0.2711257040500641 + ], + [ + -0.05440970510244371, + -0.1342200560540168, + 0.9894567044732275, + -0.029355809092521667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9967190623283388, + -0.07073390370464339, + 0.03934314906668531, + 0.003186506452038884 + ], + [ + 0.06514854729175569, + 0.989552419283223, + 0.12861462694908474, + -0.27260956168174744 + ], + [ + -0.04802952334284784, + -0.1256294972475823, + 0.9909139449938399, + -0.031312208622694016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9972090125083923, + -0.06665030184319416, + 0.03364355934311667, + 0.0012081556487828493 + ], + [ + 0.062185581773519516, + 0.9908548590896933, + 0.11974803518186232, + -0.27476856112480164 + ], + [ + -0.04131712391972542, + -0.11732168103875833, + 0.9922341307362147, + -0.034455638378858566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9974756240844727, + -0.06487424906577823, + 0.028875025422234933, + -0.000975260918494314 + ], + [ + 0.06127128750085831, + 0.9918399071665457, + 0.11180091880675659, + -0.276259183883667 + ], + [ + -0.03589240089058876, + -0.10974947464897196, + 0.9933109960635023, + -0.03692052140831947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9979202151298523, + -0.060507452891081503, + 0.022228436725070397, + -0.002035567769780755 + ], + [ + 0.05796974524855614, + 0.9931907022276776, + 0.10105341056419408, + -0.27501925826072693 + ], + [ + -0.02819156087934971, + -0.09955466241653528, + 0.9946326552214633, + -0.037024736404418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9982208013534548, + -0.05806282505480014, + 0.01356117433728788, + -0.00013753806706517935 + ], + [ + 0.05655584111809732, + 0.9940514929326408, + 0.09307579729038211, + -0.27475234866142273 + ], + [ + -0.01888475008308888, + -0.09214323424165859, + 0.9955666840306764, + -0.03917932137846947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.998218894004822, + -0.05917693396828196, + 0.007560852149361546, + -0.0031112630385905504 + ], + [ + 0.058336671441793456, + 0.9947649433115772, + 0.08390206293446793, + -0.27353665232658386 + ], + [ + -0.01248633768409491, + -0.08331155118518589, + 0.9964453444622277, + -0.03758643567562103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984040260314941, + -0.056443661741038494, + 0.0018662285983681375, + -0.005007228348404169 + ], + [ + 0.0561390295624733, + 0.9955277134630098, + 0.0759801567818961, + -0.2726883888244629 + ], + [ + -0.006146480794996023, + -0.07575412605653359, + 0.9971075968672338, + -0.03431332856416702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982689023017886, + -0.05793811061532368, + -0.010117636444323029, + -0.003989849239587784 + ], + [ + 0.05849501490592958, + 0.9959557822953443, + 0.06819357002693574, + -0.27122023701667786 + ], + [ + 0.0061257118359208124, + -0.06866735946067196, + 0.9976208306889414, + -0.027123605832457542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9983245730400085, + -0.053639941663226616, + -0.02169757699704095, + -0.00451604463160038 + ], + [ + 0.05491478741168976, + 0.9964892949474634, + 0.06319394040643488, + -0.27238982915878296 + ], + [ + 0.01823168434202671, + -0.06427957654953471, + 0.9977653495563131, + -0.010556252673268318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983434677124023, + -0.050221478892753704, + -0.02807312297299998, + -0.0062621585093438625 + ], + [ + 0.05175776034593582, + 0.9970329203203278, + 0.05697814465481428, + -0.2727069556713104 + ], + [ + 0.025128301233053207, + -0.05833675837946784, + 0.997980667760381, + -0.0024720709770917892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998312771320343, + -0.04598847761903675, + -0.035449254645007276, + -0.007428574375808239 + ], + [ + 0.047733988612890244, + 0.9976040354548262, + 0.05007613787086243, + -0.2730042040348053 + ], + [ + 0.033061396330595016, + -0.05168377421049255, + 0.9981160627214667, + 0.008295652456581593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9978516101837158, + -0.04630943713082187, + -0.04634238146700396, + -0.0031580887734889984 + ], + [ + 0.048104673624038696, + 0.9981037777370603, + 0.0384033671123997, + -0.26961544156074524 + ], + [ + 0.04447606950998306, + -0.04055014325177922, + 0.9981871333777096, + 0.00918544176965952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9976634383201599, + -0.04876342238949196, + -0.0478516917634973, + -0.004512257874011993 + ], + [ + 0.05042886361479759, + 0.9981406477810109, + 0.034236587328666, + -0.2707505524158478 + ], + [ + 0.046093229204416275, + -0.036569695765222156, + 0.9982675374002854, + 0.011017171666026115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9978027343750002, + -0.04771537739807029, + -0.04596640300188656, + -0.007126542739570141 + ], + [ + 0.04927644506096841, + 0.9982249673839638, + 0.03344816794201899, + -0.2736358642578125 + ], + [ + 0.04428881406784058, + -0.035639724868785055, + 0.9983828301490101, + 0.011320319958031178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9971879124641421, + -0.05053652178962708, + -0.0553383945859811, + -0.003943703602999449 + ], + [ + 0.05185959488153459, + 0.9983954601796882, + 0.022738796395087617, + -0.27045807242393494 + ], + [ + 0.05410046502947809, + -0.02554468740476289, + 0.9982086932753633, + 0.012745285406708717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9964131116867065, + -0.053836692956875515, + -0.06528835941977496, + -0.001394707360304892 + ], + [ + 0.05554807558655739, + 0.998150788708223, + 0.024685698771022307, + -0.27441105246543884 + ], + [ + 0.06383863091468811, + -0.02822380054314562, + 0.9975610733965327, + 0.009632267989218235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969106912612917, + -0.05144349925781668, + -0.05935213240289645, + -0.0056472355499863625 + ], + [ + 0.0528775453567505, + 0.9983395871232377, + 0.022848575298681853, + -0.2750915288925171 + ], + [ + 0.05807817354798318, + -0.02591638735636895, + 0.9979756092380879, + 0.013965290039777756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968762397766116, + -0.05054261419421403, + -0.060689078450348655, + -0.006724069826304913 + ], + [ + 0.05208133533596994, + 0.9983533605989874, + 0.02404488150831498, + -0.277381032705307 + ], + [ + 0.05937385186553003, + -0.027130539843347262, + 0.9978670638355257, + 0.014227675274014473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.996816098690033, + -0.04894302334419809, + -0.06294684590256455, + -0.007454277947545052 + ], + [ + 0.05072706565260887, + 0.9983458029400917, + 0.027062352277564466, + -0.2805722951889038 + ], + [ + 0.06151820346713066, + -0.030169305565370383, + 0.997649908612029, + 0.015112768858671188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9967480897903445, + -0.04784117842287846, + -0.06484151596458695, + -0.007601400371640921 + ], + [ + 0.0497545823454857, + 0.9983626441048802, + 0.02822167007156297, + -0.2822933495044708 + ], + [ + 0.06338518857955934, + -0.03135605565568702, + 0.9974964301150491, + 0.015719112008810043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9968408942222597, + -0.04622443676015146, + -0.06458719719292375, + -0.009306812658905983 + ], + [ + 0.0482543781399727, + 0.9983775099369765, + 0.03023046195984842, + -0.2844425439834595 + ], + [ + 0.06308501958847047, + -0.033251569242886185, + 0.9974540531592363, + 0.015918387100100517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9967246651649475, + -0.04497950630002979, + -0.0672070870066755, + -0.009443435817956924 + ], + [ + 0.04721365123987198, + 0.9983710568939295, + 0.03203195164067469, + -0.28571072220802307 + ], + [ + 0.06565683335065842, + -0.035100138108892134, + 0.9972247517800403, + 0.015425448305904865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9967198967933655, + -0.04300101915788092, + -0.06855891364726818, + -0.00958934798836708 + ], + [ + 0.04552546516060829, + 0.9983252613893936, + 0.035693909501150506, + -0.2884575426578522 + ], + [ + 0.06690922379493713, + -0.03869801396477442, + 0.9970083623292206, + 0.015534788370132446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9967301487922671, + -0.04123826805600378, + -0.06948670747141614, + -0.009706922806799412 + ], + [ + 0.04388286545872689, + 0.9983523486506913, + 0.03697187729942475, + -0.28941580653190613 + ], + [ + 0.06784755736589433, + -0.039900252301537015, + 0.9968975312074345, + 0.01507328636944294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9968020915985107, + -0.039324806241364085, + -0.0695643798775022, + -0.010402686893939972 + ], + [ + 0.04217267781496048, + 0.9983111281280896, + 0.039954600095409916, + -0.2911418676376343 + ], + [ + 0.0678756833076477, + -0.042760539086084265, + 0.9967770164861411, + 0.014879069291055202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968639612197876, + -0.03807560999888115, + -0.06937204448906344, + -0.01056794635951519 + ], + [ + 0.040906794369220734, + 0.998367637744831, + 0.03985826165627279, + -0.2911272644996643 + ], + [ + 0.06774117797613144, + -0.04257105207853675, + 0.9967942869859256, + 0.014346917159855366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996920108795166, + -0.03575617215600514, + -0.06979803346130657, + -0.010928298346698284 + ], + [ + 0.03868378698825836, + 0.9984078625269206, + 0.041052704881775856, + -0.2916378676891327 + ], + [ + 0.06821901351213455, + -0.04362631418638446, + 0.9967160485757149, + 0.013997434638440609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9969062805175781, + -0.03412299457954897, + -0.07080607567353353, + -0.010607512667775154 + ], + [ + 0.03717528283596039, + 0.9984153139485658, + 0.04224711150762243, + -0.2912386953830719 + ], + [ + 0.06925227493047714, + -0.04474865965603053, + 0.996595065633857, + 0.012964303605258465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968678951263428, + -0.032865729504964726, + -0.07193218705728253, + -0.010098855942487717 + ], + [ + 0.03616994991898537, + 0.9983263224106541, + 0.04512495349717015, + -0.2918182611465454 + ], + [ + 0.0703287273645401, + -0.04758540396679339, + 0.9963882385084876, + 0.012445969507098198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.99685138463974, + -0.03194306898526143, + -0.07257356785709929, + -0.009553360752761364 + ], + [ + 0.03531789407134056, + 0.998330450559694, + 0.04570468052118506, + -0.2906377613544464 + ], + [ + 0.07099245488643646, + -0.04812392047644846, + 0.9963153145683179, + 0.011831742711365223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9968419075012209, + -0.031593484928599466, + -0.0728560905871342, + -0.009454271756112576 + ], + [ + 0.03515176475048066, + 0.9982244885360225, + 0.0480860957727986, + -0.2892136573791504 + ], + [ + 0.07120752334594728, + -0.05049525062918177, + 0.996182596006029, + 0.01168091967701912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9967617988586426, + -0.03149730340690947, + -0.07398564578217451, + -0.008554000407457352 + ], + [ + 0.03533140942454338, + 0.998068444905473, + 0.05109821356462521, + -0.2885805070400238 + ], + [ + 0.07223328202962875, + -0.05354676048796349, + 0.995949333790767, + 0.011166788637638092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9967842102050781, + -0.03128572887060314, + -0.07377270455558983, + -0.007985447533428669 + ], + [ + 0.035225652158260345, + 0.997987653197563, + 0.05272410679484077, + -0.2871280610561371 + ], + [ + 0.0719747394323349, + -0.055153256981309455, + 0.9958804188170939, + 0.010710785165429115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968405961990356, + -0.031304987796890026, + -0.07299898283258117, + -0.007649214938282967 + ], + [ + 0.03528064116835594, + 0.9979270128756724, + 0.053823827847881325, + -0.2855387032032013 + ], + [ + 0.07116270065307617, + -0.05622922780830606, + 0.9958785767320752, + 0.010215449146926403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9968509078025818, + -0.031128647487940454, + -0.07293372948816047, + -0.00664628017693758 + ], + [ + 0.03518497943878174, + 0.9978657636250564, + 0.05500841210751871, + -0.2841569483280182 + ], + [ + 0.0710657387971878, + -0.05740135547246006, + 0.99581863917116, + 0.009897075593471527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9969474077224731, + -0.03106915218074932, + -0.07162824898471556, + -0.006563087925314903 + ], + [ + 0.03510236740112305, + 0.997827263218809, + 0.055754094788687814, + -0.2825700640678406 + ], + [ + 0.06974038481712341, + -0.05809822211996984, + 0.995871929479926, + 0.009410854429006577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9969190955162051, + -0.030726662445726374, + -0.07216783406343326, + -0.005718955770134926 + ], + [ + 0.034920182079076774, + 0.9977297944317332, + 0.0575836630513374, + -0.2818426191806793 + ], + [ + 0.07023464888334276, + -0.05992636950376579, + 0.9957288391687451, + 0.008590206503868103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9969649314880373, + -0.030620751741332494, + -0.07157694191040523, + -0.005405243486166 + ], + [ + 0.034868713468313224, + 0.9976563840956499, + 0.058872296037057334, + -0.28140679001808167 + ], + [ + 0.06960647553205492, + -0.06118940731579927, + 0.9956961479366097, + 0.007518270052969456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9969428181648254, + -0.029980225271632972, + -0.07215386158887187, + -0.004326718859374523 + ], + [ + 0.03429344296455383, + 0.9976509282525211, + 0.059301052589180225, + -0.27993887662887573 + ], + [ + 0.07020650804042816, + -0.061594162670333005, + 0.995629056054355, + 0.00624570157378912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9970219135284426, + -0.0288117188955102, + -0.07153444665390132, + -0.004186396021395922 + ], + [ + 0.03317640721797944, + 0.9976108362983167, + 0.06059621167691556, + -0.27870163321495056 + ], + [ + 0.0696176588535309, + -0.06278901513315324, + 0.9955957483453974, + 0.004624311812222004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9970006942749023, + -0.028290400681239572, + -0.07203699092480352, + -0.0036583440378308296 + ], + [ + 0.032706283032894135, + 0.9976092688361141, + 0.060877367060926925, + -0.2768506407737732 + ], + [ + 0.07014252245426178, + -0.06305084091648588, + 0.9955423633402006, + 0.0035872943699359894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9970427155494692, + -0.027894017646192037, + -0.07160813460750277, + -0.003582848235964775 + ], + [ + 0.032242361456155784, + 0.9976591921338462, + 0.06030443093000152, + -0.274250864982605 + ], + [ + 0.069758377969265, + -0.062434897755071606, + 0.9956081630226109, + 0.002900261664763093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9970512986183169, + -0.027113322805493778, + -0.07178837327027908, + -0.0030696962494403124 + ], + [ + 0.031497586518526084, + 0.9976613012603406, + 0.06066155038166271, + -0.2720935344696045 + ], + [ + 0.06997574865818025, + -0.06274383156216279, + 0.9955735020910441, + 0.002261603018268943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9970404505729675, + -0.02703769748539451, + -0.07196765051255372, + -0.002595930825918913 + ], + [ + 0.031453173607587814, + 0.9976454182117566, + 0.06094473738178222, + -0.2698303461074829 + ], + [ + 0.07015039771795273, + -0.0630279830093897, + 0.9955432729036638, + 0.001202767831273377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9969704151153564, + -0.026942978904443395, + -0.0729663538341533, + -0.002009147545322776 + ], + [ + 0.03193916752934456, + 0.9971606562773707, + 0.06819480620873312, + -0.2707667052745819 + ], + [ + 0.07092180848121643, + -0.070318691673138, + 0.9950001933065339, + 0.0006051251548342407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969696998596191, + -0.027020036234895385, + -0.07294774590045518, + -0.0018870587227866054 + ], + [ + 0.032275259494781494, + 0.996893019355121, + 0.0718510014764028, + -0.26882681250572205 + ], + [ + 0.07077968865633011, + -0.07398768561452906, + 0.9947442239405692, + 0.0005596590926870704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9971702694892883, + -0.024780469731256426, + -0.07097474498922525, + -0.00242646224796772 + ], + [ + 0.029767587780952454, + 0.9970962099652387, + 0.07009311264392049, + -0.2641652226448059 + ], + [ + 0.06903170794248581, + -0.07200752213684732, + 0.9950123568259981, + 0.00030202794005163014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9971474409103394, + -0.02626686078630971, + -0.07076059277225598, + -0.002387150889262557 + ], + [ + 0.032291263341903687, + 0.9958245420018991, + 0.08538606722103703, + -0.2680191397666931 + ], + [ + 0.06822230666875839, + -0.08742745114064521, + 0.9938320841104017, + 0.0011427124263718724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9971386790275574, + -0.02509885037220259, + -0.07130592109301392, + -0.0013919399352744222 + ], + [ + 0.03149186074733734, + 0.9954441089396894, + 0.08999599186184341, + -0.26610299944877625 + ], + [ + 0.06872226297855377, + -0.09198404827930078, + 0.9933862442362396, + 0.002397429896518588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9972189664840698, + -0.023357240379250768, + -0.07077242406983682, + -0.0006844710442237556 + ], + [ + 0.029851756989955902, + 0.9952980411988729, + 0.0921449842841218, + -0.26228004693984985 + ], + [ + 0.06828740239143372, + -0.09400139828321145, + 0.9932273383597697, + 0.003474494442343712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9977087974548342, + -0.02551788327366288, + -0.06265819098657349, + -0.0032123622950166464 + ], + [ + 0.03185520693659783, + 0.994241183023288, + 0.10232164207583444, + -0.2632073760032654 + ], + [ + 0.059686325490474715, + -0.10408319005561167, + 0.9927760173592146, + 0.0017131607746705413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9983997344970703, + -0.024934273900358517, + -0.05075718113173266, + -0.0074617802165448666 + ], + [ + 0.030684346333146095, + 0.9927915539194871, + 0.11585963898208045, + -0.26566368341445923 + ], + [ + 0.04750242456793785, + -0.11723167119963976, + 0.9919678588111888, + -0.0024083510506898165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9980954527854919, + -0.020876074141567204, + -0.058048700533545515, + 0.000576092628762126 + ], + [ + 0.029750216752290726, + 0.9872314027428196, + 0.15649002040277904, + -0.2857509255409241 + ], + [ + 0.05404059961438179, + -0.1579189390591326, + 0.9859722428305688, + -0.020329169929027557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9981256723403931, + -0.022333585325620287, + -0.056976269665559416, + 0.0008703700732439756 + ], + [ + 0.031220754608511925, + 0.9865890885256327, + 0.1602099280681181, + -0.28280097246170044 + ], + [ + 0.0526341013610363, + -0.1616884976670893, + 0.9854372265623581, + -0.017403990030288696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9981986284255981, + -0.021681883835720735, + -0.055940473372898286, + 0.00013440272596199065 + ], + [ + 0.03074379824101925, + 0.9855443015296673, + 0.16660495061531658, + -0.28050678968429565 + ], + [ + 0.05151950940489769, + -0.16802467010331237, + 0.9844356272631046, + -0.012470206245779991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9981815814971924, + -0.0205795958140249, + -0.05665745250138462, + 0.0005408659344539046 + ], + [ + 0.02987443283200264, + 0.9852574968054325, + 0.168449273495057, + -0.27542078495025635 + ], + [ + 0.0523555614054203, + -0.16983557752662742, + 0.9840807024680914, + -0.005924508906900883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9982117414474487, + -0.021974957413212596, + -0.05559178723081108, + -0.0007640010444447398 + ], + [ + 0.031357258558273315, + 0.9842481811992884, + 0.17398915093310946, + -0.2737503945827484 + ], + [ + 0.05089271068572998, + -0.17542121381998696, + 0.9831771443912762, + 0.0009662660304456949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9980236887931826, + -0.02312854320769529, + -0.05842778956116632, + -0.0008036198560148478 + ], + [ + 0.033218264579772956, + 0.9834488162749859, + 0.17811518751705172, + -0.27143996953964233 + ], + [ + 0.05334119498729707, + -0.17970403503097404, + 0.9822734573245974, + 0.0069012390449643135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979170560836792, + -0.02202766735861994, + -0.06063268519788508, + -0.001089039258658886 + ], + [ + 0.032829344272613525, + 0.9824934403125656, + 0.18338161033849854, + -0.26986807584762573 + ], + [ + 0.05553175136446953, + -0.18499017749795063, + 0.9811701557657266, + 0.014712434262037277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9978563785552979, + -0.0212683340310531, + -0.06188988531615698, + -9.636349568609148e-05 + ], + [ + 0.032468605786561966, + 0.9820075745723412, + 0.18602945946515614, + -0.26854872703552246 + ], + [ + 0.056819796562194824, + -0.18764014713188534, + 0.9805930083785118, + 0.021695097908377647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9981409907341003, + -0.02026274722102759, + -0.05748007311861766, + -0.0015310487942770123 + ], + [ + 0.030684741213917732, + 0.981939722134789, + 0.1866890795368134, + -0.2665855288505554 + ], + [ + 0.052659135311841965, + -0.18810578554791532, + 0.9807360517535905, + 0.02939487062394619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9981998801231384, + -0.01886352581985913, + -0.05693123124534976, + -0.0014281325275078416 + ], + [ + 0.029400041326880455, + 0.9812762133843833, + 0.19034874708445182, + -0.265979140996933 + ], + [ + 0.052274610847234726, + -0.19167986883511653, + 0.9800643563997011, + 0.03562602028250694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9980219602584839, + -0.013469565222653837, + -0.061405855874390944, + -0.00473553454503417 + ], + [ + 0.022272776812314987, + 0.9891783549308162, + 0.14501741182399092, + -0.242098867893219 + ], + [ + 0.05878802016377449, + -0.14609825191572912, + 0.9875217737886018, + 0.07045099139213562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9981994032859804, + -0.017528886062071238, + -0.05736420118161674, + -0.001609960338100791 + ], + [ + 0.028592098504304893, + 0.9797550037292151, + 0.19814799221200322, + -0.26710936427116394 + ], + [ + 0.05272954702377321, + -0.19943137357769228, + 0.9784920661806649, + 0.04655041545629501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9981359839439392, + -0.01851036350063296, + -0.05815393143959209, + -0.0015356707153841853 + ], + [ + 0.029742250218987465, + 0.9796137931864923, + 0.19867619892804017, + -0.26709428429603577 + ], + [ + 0.053290825337171555, + -0.20003549247793873, + 0.9783383188261496, + 0.05045290291309357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.997984766960144, + -0.01968513278891733, + -0.06032326064213078, + -0.0015689290594309568 + ], + [ + 0.03148407116532326, + 0.9790039820753779, + 0.20139493007877524, + -0.26716724038124084 + ], + [ + 0.055092230439186096, + -0.20288830262370686, + 0.9776508679380764, + 0.05319279804825783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9977709650993347, + -0.02002442760720629, + -0.06365673856569154, + -0.0013908201362937689 + ], + [ + 0.032688241451978683, + 0.9782950775662638, + 0.20462209913330304, + -0.2683567404747009 + ], + [ + 0.058177635073661804, + -0.20624681071452197, + 0.9767689651185385, + 0.0560169592499733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9976934194564819, + -0.019799722776892403, + -0.06492889072944409, + -0.0013404176570475101 + ], + [ + 0.032696790993213654, + 0.978413232275509, + 0.20405502586441057, + -0.2689461410045624 + ], + [ + 0.059487052261829376, + -0.20570733294597954, + 0.976803873354212, + 0.05780556797981262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.997774600982666, + -0.0193559643464744, + -0.06380629886372222, + -0.0019490283448249102 + ], + [ + 0.03197738900780678, + 0.9786192769046558, + 0.2031790976044199, + -0.2699635326862335 + ], + [ + 0.05850934982299805, + -0.20476729697354826, + 0.9770603828919371, + 0.0603301078081131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9978275299072268, + -0.019234367628461046, + -0.06300993386360991, + -0.001738902647048235 + ], + [ + 0.03160227090120316, + 0.9789538796570563, + 0.20161990369001226, + -0.2704138159751892 + ], + [ + 0.057805787771940245, + -0.20317314390831193, + 0.9774349638217519, + 0.06129538640379906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9978557825088501, + -0.018326902421532155, + -0.06283283662634843, + -0.0009526837966404855 + ], + [ + 0.030587265267968178, + 0.9792933415679986, + 0.2001225287635283, + -0.27077770233154297 + ], + [ + 0.057864148169755936, + -0.20161529338984047, + 0.9777540433306945, + 0.06277994811534882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9980843663215639, + -0.018432562957697397, + -0.05905817147523289, + -0.0018700305372476578 + ], + [ + 0.02990765869617463, + 0.9793873088498852, + 0.19976484287104782, + -0.27161791920661926 + ], + [ + 0.054158646613359465, + -0.2011484592623787, + 0.9780624516210601, + 0.06396514922380447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9982484579086304, + -0.017817985873626367, + -0.0564138400670768, + -0.0015004011802375317 + ], + [ + 0.02872990444302559, + 0.9795816539013491, + 0.19898325257318852, + -0.2722441852092743 + ], + [ + 0.051716484129428864, + -0.20025548702484358, + 0.9783777887969232, + 0.06562986224889755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9983004331588745, + -0.017210835993664745, + -0.05567768814175703, + -0.0007095827022567391 + ], + [ + 0.027950525283813477, + 0.9797429865452496, + 0.1982989336015537, + -0.2721441090106964 + ], + [ + 0.05113693326711655, + -0.19951813482598402, + 0.9785589184134952, + 0.06624986231327057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9982691407203674, + -0.017970395939035103, + -0.055998097145292226, + -0.0002458610397297889 + ], + [ + 0.028850726783275604, + 0.9793652641251497, + 0.20002838232455641, + -0.27185186743736267 + ], + [ + 0.05124800279736519, + -0.20129773559618397, + 0.9781885379174731, + 0.06780095398426056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9982865452766421, + -0.01769281332477217, + -0.055775457975688676, + 0.00010727996414061636 + ], + [ + 0.028691422194242484, + 0.9787469356823814, + 0.20305480390489566, + -0.2722179889678955 + ], + [ + 0.05099744722247125, + -0.20430715427049723, + 0.9775775331126632, + 0.06825339794158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9982951879501345, + -0.017602033749411928, + -0.055649911974808126, + -0.00022499251645058393 + ], + [ + 0.028596118092536933, + 0.9786722602512468, + 0.20342792661293485, + -0.27242565155029297 + ], + [ + 0.0508822798728943, + -0.20467249107431762, + 0.9775071409965983, + 0.06917445361614227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9982274174690249, + -0.01687665823816335, + -0.057072198485059726, + -9.671726729720831e-06 + ], + [ + 0.028068251907825477, + 0.9791064358041196, + 0.2014019820172469, + -0.2720735967159271 + ], + [ + 0.052480760961771025, + -0.2026468874890092, + 0.9778445465346713, + 0.06945454329252243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9981895685195923, + -0.017107176856345222, + -0.057662424532692526, + -0.0008851304883137345 + ], + [ + 0.028380580246448517, + 0.9792253028118099, + 0.20077925458093115, + -0.2721977233886719 + ], + [ + 0.05302973836660385, + -0.2020522581224798, + 0.9779380291020805, + 0.06992603838443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9980025291442871, + -0.014684193297424939, + -0.0614436686906856, + -0.0018623387441039085 + ], + [ + 0.026611793786287308, + 0.9798247645947211, + 0.1980790186034709, + -0.27263686060905457 + ], + [ + 0.05729539319872856, + -0.19931847691018878, + 0.9782583309146914, + 0.0708807036280632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9979223608970644, + -0.011348208913039717, + -0.06342026281415278, + -0.00350562809035182 + ], + [ + 0.023560186848044402, + 0.9804644534129145, + 0.19528018119766927, + -0.27386370301246643 + ], + [ + 0.05996523424983026, + -0.19636866741153922, + 0.9786948313821537, + 0.06999099254608154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9975409507751465, + -0.007217325738854635, + -0.06971353718389064, + -0.004425543360412121 + ], + [ + 0.020223861560225487, + 0.9820143870323841, + 0.18771982772661322, + -0.273202121257782 + ], + [ + 0.06710486114025116, + -0.18866809073394386, + 0.979745546255439, + 0.07170987874269485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9974836111068726, + -0.0014100577459157815, + -0.0708836075203556, + -0.00683244364336133 + ], + [ + 0.01455052848905325, + 0.9825911115870033, + 0.18521071593549387, + -0.27332761883735657 + ], + [ + 0.06938844919204712, + -0.18577604205026704, + 0.9801390152635625, + 0.07189683616161346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9969993233680727, + 0.004342552691137634, + -0.07728816084116623, + -0.008287809789180756 + ], + [ + 0.009859103709459307, + 0.983171070735214, + 0.1824211165900697, + -0.2735157608985901 + ], + [ + 0.07677966356277467, + -0.18263571851184845, + 0.9801780919037252, + 0.073578841984272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.99686199426651, + 0.010336767784339264, + -0.07848125738649184, + -0.011366453021764755 + ], + [ + 0.003803637344390154, + 0.9840374218590713, + 0.17792104706831943, + -0.2731521725654602 + ], + [ + 0.07906762510538101, + -0.17766124508344117, + 0.9809101711682333, + 0.07448021322488785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9965309500694275, + 0.016453581596737085, + -0.08158036313248056, + -0.013575057499110699 + ], + [ + -0.0018359672976657748, + 0.9843694534265449, + 0.17610617161997946, + -0.27192968130111694 + ], + [ + 0.0832028016448021, + -0.17534546232435427, + 0.9809848220551184, + 0.0758962482213974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 808.6810709635416, + "fy": 808.6009928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/boom_up/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7d82f8f7b95c1f29f9d1453bafd174ddc6090400 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/boom_up/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.29400126147084e-05, + 0.00024093473621178418, + -0.00024371818100679893 + ], + [ + 7.308429485419765e-05, + 0.9999998211860657, + -0.0005989032797515392, + 0.0001581991233093583 + ], + [ + -0.00024089102225843817, + 0.0005989208584651351, + 0.9999998211860657, + -0.00022610635237272261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 7.64142896514386e-06, + 0.00039224125794135034, + -0.0004426480558638856 + ], + [ + -7.184681635408197e-06, + 0.9999993443489075, + -0.0011644421610981226, + 0.0002992403106359036 + ], + [ + -0.00039224987267516553, + 0.0011644393671303988, + 0.9999992251396179, + -0.0003595480796597574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.649810140719637e-05, + 0.0007247389294207096, + -0.0008917310485863393 + ], + [ + -7.541389641119167e-05, + 0.9999988675117493, + -0.0014958935789763927, + 0.00016402089057247272 + ], + [ + -0.0007248525507748127, + 0.0014958386309444904, + 0.9999986290931702, + -0.0004853626260149252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + 1.2577570487337653e-05, + 0.0007771732634864748, + -0.0012302285608217537 + ], + [ + -1.0976172234222759e-05, + 0.9999978542327881, + -0.002060511615127325, + -7.658949850693989e-05 + ], + [ + -0.0007771974778734148, + 0.002060502301901579, + 0.9999975562095642, + -0.0006261338535493807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860657, + 0.00019054125004913658, + 0.0005764178349636495, + -0.0013146822637123557 + ], + [ + -0.00018902587180491537, + 0.999996542930603, + -0.0026278733275830746, + -0.0005160918074619508 + ], + [ + -0.0005769165582023561, + 0.0026277638971805573, + 0.9999963641166687, + -0.000630212752857124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.0004889839328825474, + 0.0005974089144729078, + -0.0015557802702381234 + ], + [ + -0.000487010576762259, + 0.9999944567680359, + -0.0032989170867949724, + -0.0009768888131593883 + ], + [ + -0.0005990187055431306, + 0.0032986251171678305, + 0.9999943971633911, + -0.0007222396850525199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007110527949407697, + 0.0004320366424508393, + -0.001778981830537542 + ], + [ + -0.00070937629789114, + 0.9999922513961792, + -0.003868312109261751, + -0.0014517504924341394 + ], + [ + -0.0004347838694229722, + 0.0038680043071508408, + 0.9999924302101135, + -0.0008120385924880595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007128954166546464, + 0.0004006489471066743, + -0.002537552371074486 + ], + [ + -0.0007112507009878755, + 0.9999913573265076, + -0.004090489353984594, + -0.0021550244327796543 + ], + [ + -0.0004035616002511233, + 0.004090203437954187, + 0.9999915361404419, + -0.0012735658143039632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.0007943193195387721, + 0.00035233303788118064, + -0.0031782831191262432 + ], + [ + -0.0007925998652353883, + 0.9999879002571106, + -0.004853838123381138, + -0.0019264735787621005 + ], + [ + -0.0003561842895578593, + 0.004853556863963604, + 0.9999881386756897, + -0.0014152033219073453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006670414004474878, + 0.00016822533507365733, + -0.0036026884854831937 + ], + [ + -0.000666158040985465, + 0.9999862909317017, + -0.005197789985686541, + -0.0019266720780211945 + ], + [ + -0.00017169017519336194, + 0.0051976763643324375, + 0.999986469745636, + -0.0016595507673311818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0005030512111261487, + -0.0004504503740463406, + -0.0034455364946473347 + ], + [ + -0.00050563202239573, + 0.9999833703041077, + -0.005747856106609106, + -0.0016799592251039068 + ], + [ + 0.00044755139970220625, + 0.005748082417994738, + 0.9999833703041077, + -0.0018668779554149217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.0005004483973607421, + -0.0012349014868959785, + -0.0029922497663748167 + ], + [ + -0.0005081002600491047, + 0.999980628490448, + -0.006203807424753904, + -0.0016248234709643804 + ], + [ + 0.0012317729415372014, + 0.0062044295482337475, + 0.9999799728393555, + -0.0018647382137082194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.000537351006641984, + -0.0012318185763433576, + -0.003263539599846927 + ], + [ + -0.0005456472281366587, + 0.9999771118164062, + -0.006744516082108021, + -0.0018283657486671987 + ], + [ + 0.0012281661620363593, + 0.006745181977748871, + 0.9999765157699585, + -0.0021058280770059512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009534736745990813, + -0.0011021787067875266, + -0.003485251139057294 + ], + [ + -0.000961759767960757, + 0.9999710917472839, + -0.0075419871136546135, + -0.002238595461391885 + ], + [ + 0.0010949558345600963, + 0.007543039508163929, + 0.9999709725379944, + -0.002103261587857876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.0011162854498252273, + -0.0011227973736822605, + -0.003461621901964384 + ], + [ + -0.001126102521084249, + 0.9999608397483826, + -0.008781137876212597, + -0.0025025664869209995 + ], + [ + 0.001112951198592782, + 0.00878239143639803, + 0.9999608397483826, + -0.002100766097377662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.0010198316304013133, + -0.0009416394750587642, + -0.0035758764027496396 + ], + [ + -0.001029227045364678, + 0.9999491572380066, + -0.010031781159341335, + -0.0028754060278120257 + ], + [ + 0.0009313608170486987, + 0.01003274042159319, + 0.9999492168426514, + -0.002251362705441273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007766605704091489, + -0.0005797529593110085, + -0.00375570036953634 + ], + [ + -0.0007832953124307096, + 0.9999331831932068, + -0.011532947421073914, + -0.003287136473733446 + ], + [ + 0.0005707570817321539, + 0.011533396318554878, + 0.9999333024024963, + -0.002467982587404549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008707321248948574, + -0.0002847291762009263, + -0.0038279317476300765 + ], + [ + -0.0008743436774238944, + 0.9999158978462219, + -0.012939990498125553, + -0.0036488163244465105 + ], + [ + 0.00027343793772161007, + 0.012940234504640102, + 0.9999162554740906, + -0.002947307818407274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999995231628418, + 0.0009543554042465985, + 0.0003136252926196903, + -0.004062122166752765 + ], + [ + -0.0009497980936430395, + 0.999898374080658, + -0.014223447069525719, + -0.0037123455301575053 + ], + [ + -0.00032716765417717397, + 0.014223141595721245, + 0.9998987913131714, + -0.0034716430251770045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0009250862058252096, + 0.0011267464142292738, + -0.0042416348866106054 + ], + [ + -0.0009077693102881312, + 0.9998829364776611, + -0.015273701399564743, + -0.00352350438175642 + ], + [ + -0.0011407439596951008, + 0.015272662043571472, + 0.999882698059082, + -0.0036367777451548886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816956, + 0.0009937994182109833, + 0.002146285492926836, + -0.004749985575756949 + ], + [ + -0.0009599670302122831, + 0.9998762011528015, + -0.01570713147521019, + -0.0037020552053075775 + ], + [ + -0.0021616294980049133, + 0.01570502668619156, + 0.9998743534088135, + -0.0041789899539688355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819702, + 0.0008153708768077195, + 0.003173352684825659, + -0.005173775748003011 + ], + [ + -0.0007638561655767262, + 0.9998684525489807, + -0.016201015561819077, + -0.00395915436193995 + ], + [ + -0.003186145331710577, + 0.016198504716157913, + 0.9998637437820435, + -0.0046165831629996715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0009345848229713738, + 0.003337858011946082, + -0.004105321862880373 + ], + [ + -0.0008764644735492766, + 0.9998487234115601, + -0.017371680587530136, + -0.003542714193463326 + ], + [ + -0.003353588515892625, + 0.017368651926517487, + 0.9998435378074646, + -0.004329312220215797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.0008287678356282413, + 0.0045023406855762005, + -0.004354908285186748 + ], + [ + -0.000745337747503072, + 0.999828577041626, + -0.01850055903196335, + -0.0035656143951675184 + ], + [ + -0.0045169019140303135, + 0.018497008830308914, + 0.999818742275238, + -0.004486638752986555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112122, + 0.0006885568145662546, + 0.005930440034717321, + -0.004696002020627138 + ], + [ + -0.0005718327593058348, + 0.9998065233230591, + -0.01966145448386669, + -0.003542044078526289 + ], + [ + -0.005942830350250006, + 0.019657714292407036, + 0.9997891187667847, + -0.004765226601865952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 0.00027616453007794917, + 0.007445462979376316, + -0.004793873140063268 + ], + [ + -0.00012348577729426324, + 0.9997898936271667, + -0.02049895189702511, + -0.003561171694942142 + ], + [ + -0.0074495598673820496, + 0.020497461780905724, + 0.9997621774673462, + -0.0051634567648010405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412781, + -0.00036024575820192695, + 0.00870597269386053, + -0.004715831922310273 + ], + [ + 0.0005401443922892213, + 0.9997861981391907, + -0.02067030780017376, + -0.00364754767683537 + ], + [ + -0.008696665056049824, + 0.02067422680556774, + 0.9997484683990479, + -0.005429569163116748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.000709950749296695, + 0.009997879154980183, + -0.004924793471202619 + ], + [ + 0.000913787807803601, + 0.9997915029525757, + -0.020398246124386787, + -0.003611345540570179 + ], + [ + -0.009981312789022923, + 0.02040635608136654, + 0.9997419714927673, + -0.005927891624362572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0013528461568057537, + 0.011150604113936424, + -0.005267516377068166 + ], + [ + 0.0015737633220851421, + 0.9998021721839905, + -0.019827229902148247, + -0.00387843788965889 + ], + [ + -0.01112157478928566, + 0.019843528047204018, + 0.99974125623703, + -0.00619548941537252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.0016329752979800105, + 0.012118174694478512, + -0.005588458903493238 + ], + [ + 0.0018681212095543742, + 0.9998096823692322, + -0.019418517127633095, + -0.004108895871626293 + ], + [ + -0.012084159068763256, + 0.019439702853560448, + 0.9997379779815674, + -0.0061244287264897775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0021301365923136473, + 0.01295301504433155, + -0.006129108248253191 + ], + [ + 0.0023827843833714724, + 0.9998065829277039, + -0.019520897418260574, + -0.00419878266427828 + ], + [ + -0.012908928096294403, + 0.019550081342458725, + 0.9997255206108093, + -0.0062054592974321995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.002467246726155281, + 0.013769915327429771, + -0.0066891896538436415 + ], + [ + 0.002741764299571514, + 0.9997971653938293, + -0.01995289884507656, + -0.00395864356795083 + ], + [ + -0.0137178935110569, + 0.01998869888484478, + 0.9997060894966125, + -0.006347709691718869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353088, + -0.002840029774233699, + 0.014727404341101646, + -0.007251586877037366 + ], + [ + 0.0031446802895516157, + 0.9997807145118713, + -0.020704224705696106, + -0.0033379926710673004 + ], + [ + -0.014665374532341957, + 0.020748209208250046, + 0.9996771812438965, + -0.006308814541072301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999869704246521, + -0.0029583810828626156, + 0.01586814410984516, + -0.007835726357449817 + ], + [ + 0.0032985173165798187, + 0.9997644424438477, + -0.021452007815241814, + -0.0027493646935276388 + ], + [ + -0.015800943598151207, + 0.021501554176211357, + 0.9996439218521118, + -0.0064809590476848505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0031880491878837347, + 0.01670588180422783, + -0.008000320653081872 + ], + [ + 0.0035494978073984385, + 0.9997592568397522, + -0.021651223301887512, + -0.0028048379589682045 + ], + [ + -0.016632836312055588, + 0.021707389503717422, + 0.9996259808540344, + -0.006523355102652441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358826, + -0.0034013534896075726, + 0.017632387578487396, + -0.008310565159089215 + ], + [ + 0.0037892842665314674, + 0.9997504949569702, + -0.02201450802385807, + -0.0027461635029834217 + ], + [ + -0.017553109675645828, + 0.02207777090370655, + 0.9996021389961243, + -0.006494706626171651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703186, + -0.0038147722370922565, + 0.018518278375267982, + -0.008969337832051045 + ], + [ + 0.004231736529618502, + 0.9997372031211853, + -0.022529657930135727, + -0.0025784125146658537 + ], + [ + -0.018427466973662376, + 0.022603996098041534, + 0.9995746612548828, + -0.0068381622028739555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.004257365129888058, + 0.019327698275446892, + -0.009761295737901136 + ], + [ + 0.004697722382843494, + 0.9997290968894958, + -0.022795794531702995, + -0.0028764676140702328 + ], + [ + -0.019225412979722023, + 0.02288212440907955, + 0.9995533227920532, + -0.006459613296243808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.004344628192484379, + 0.019853176549077034, + -0.010357551362223761 + ], + [ + 0.004809228703379631, + 0.9997142553329468, + -0.02341434173285961, + -0.0028117793247751585 + ], + [ + -0.019745776429772377, + 0.023504985496401787, + 0.999528706073761, + -0.006117906823308895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872742, + -0.004273205995559692, + 0.019879784435033798, + -0.010557648644823095 + ], + [ + 0.004749181680381298, + 0.9997016787528992, + -0.023957451805472374, + -0.0027994067286667597 + ], + [ + -0.019771479070186615, + 0.02404691092669964, + 0.9995152950286865, + -0.0059367438130404635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.004034793470054865, + 0.019967637956142426, + -0.010779328144955165 + ], + [ + 0.00453932723030448, + 0.9996699094772339, + -0.025287102907896042, + -0.001891450243799584 + ], + [ + -0.01985901966691017, + 0.025372494012117386, + 0.9994807839393616, + -0.005525992185120349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.003648292040452361, + 0.020054861903190613, + -0.011034429843952556 + ], + [ + 0.004184782970696688, + 0.999632716178894, + -0.026774615049362183, + -0.0007561430011106575 + ], + [ + -0.019949816167354584, + 0.02685297653079033, + 0.9994403123855591, + -0.0051841445348185045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.00383543292991817, + 0.020006857812404633, + -0.01123091666339188 + ], + [ + 0.00437692366540432, + 0.9996233582496643, + -0.02709207870066166, + -0.0009677173164875617 + ], + [ + -0.019895412027835846, + 0.027174023911356926, + 0.9994326829910278, + -0.004968153321913079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.004099968355149031, + 0.02002454176545143, + -0.011467709605905997 + ], + [ + 0.004638054873794317, + 0.999627411365509, + -0.026899252086877823, + -0.0017855001370544014 + ], + [ + -0.019906792789697647, + 0.026986505836248398, + 0.9994375705718994, + -0.004759398066317258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943787, + -0.004152627661824226, + 0.01996457204222679, + -0.011660687660838923 + ], + [ + 0.004697425290942192, + 0.9996157288551331, + -0.02731921523809433, + -0.0019196116405984648 + ], + [ + -0.019843455404043198, + 0.027407318353652954, + 0.9994273781776428, + -0.004623280291486046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.003944906406104565, + 0.02015707828104496, + -0.012281497684307396 + ], + [ + 0.0045133475214242935, + 0.9995911717414856, + -0.02823333442211151, + -0.0018606737256050138 + ], + [ + -0.020037459209561348, + 0.02831835299730301, + 0.9993981122970581, + -0.004108932102099061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107727, + -0.0032675720285624266, + 0.020181545987725258, + -0.012760166052865552 + ], + [ + 0.0038687323685735464, + 0.9995477795600891, + -0.02982078120112419, + -0.0012416223468987818 + ], + [ + -0.020074976608157158, + 0.029892627149820328, + 0.9993515014648438, + -0.0034786759430299637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.002861427143216133, + 0.021231308579444885, + -0.014591650616215623 + ], + [ + 0.003516518510878086, + 0.9995168447494507, + -0.03088207170367241, + -0.0012774400251067235 + ], + [ + -0.021132685244083405, + 0.03094964474439621, + 0.9992974996566772, + -0.0033336864885590645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862, + -0.002301783300936222, + 0.021792083978652954, + -0.015465723649780874 + ], + [ + 0.003009514417499304, + 0.9994671940803528, + -0.032499637454748154, + -0.0007363915929327856 + ], + [ + -0.021705664694309235, + 0.0325574167072773, + 0.999234139919281, + -0.0029440446878257007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.0019446497317403555, + 0.021882113069295883, + -0.015693742282050865 + ], + [ + 0.002689081011340022, + 0.9994167685508728, + -0.03404226154088974, + -0.00020114664474259192 + ], + [ + -0.021803151816129684, + 0.03409288823604584, + 0.999180793762207, + -0.002403976486833847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -0.001641829265281558, + 0.021979989483952522, + -0.015926702870131957 + ], + [ + 0.002427538624033332, + 0.9993571639060974, + -0.03576776385307312, + 0.0005391066489012324 + ], + [ + -0.021907133981585503, + 0.03581243008375168, + 0.9991183876991272, + -0.0020523231000760976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + -0.0011024021077901125, + 0.022024111822247505, + -0.015855908154449223 + ], + [ + 0.001948375254869461, + 0.9992595314979553, + -0.03842678666114807, + 0.0021850166761356836 + ], + [ + -0.02196544222533703, + 0.03846035152673721, + 0.999018669128418, + -0.001467765807983992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + -0.0002417459909338504, + 0.021403763443231583, + -0.014824878587688032 + ], + [ + 0.0011531555792316794, + 0.9990924000740051, + -0.04257965460419655, + 0.005301968818125516 + ], + [ + -0.021374043077230453, + 0.04259457811713219, + 0.9988637566566467, + -0.0006314031121766438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + 0.0002510111080482602, + 0.021014317870140076, + -0.014111055861323383 + ], + [ + 0.0007272117072716355, + 0.9989166259765625, + -0.04652971401810646, + 0.007765519392231239 + ], + [ + -0.021003231406211853, + 0.04653472080826759, + 0.9986958503723145, + 5.182038749689715e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + 0.001443485263735056, + 0.020757440477609634, + -0.013451655809109545 + ], + [ + -0.0003878616844303906, + 0.9987103343009949, + -0.05076955258846283, + 0.010242299055275707 + ], + [ + -0.02080395445227623, + 0.05075050890445709, + 0.9984946846961975, + 0.001122138068160933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.0023793992586433887, + 0.02051977999508381, + -0.012873173341074068 + ], + [ + -0.0012360119726508856, + 0.9984548687934875, + -0.055554915219545364, + 0.01333724940600602 + ], + [ + -0.020620262250304222, + 0.05551769956946373, + 0.9982447624206543, + 0.0018561967648565766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.004298734944313765, + 0.020192652940750122, + -0.011842269761963627 + ], + [ + -0.003020811825990677, + 0.9980155229568481, + -0.06289596855640411, + 0.019634856510421503 + ], + [ + -0.020422954112291336, + 0.06282156705856323, + 0.9978157877922058, + 0.0036623440035011457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.005073931999504566, + 0.018658915534615517, + -0.009430615572542276 + ], + [ + -0.0037986915558576584, + 0.9976946711540222, + -0.06775601953268051, + 0.02328882829650588 + ], + [ + -0.018959691748023033, + 0.06767246872186661, + 0.9975274205207825, + 0.004440111047385827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.004383104387670755, + 0.021516947075724602, + -0.013671714117821388 + ], + [ + -0.002972166985273361, + 0.9978695511817932, + -0.06517262756824493, + 0.01844219662573026 + ], + [ + -0.021756766363978386, + 0.06509296596050262, + 0.9976419806480408, + 0.003312643131484156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.006276203319430351, + 0.0191669762134552, + -0.010452680026545473 + ], + [ + -0.00483538955450058, + 0.9972231984138489, + -0.07431375235319138, + 0.027411394469116043 + ], + [ + -0.019580163061618805, + 0.07420595735311508, + 0.9970507025718689, + 0.006171980913242568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.013463468290865421, + 0.01185617595911026, + -0.0007420205518745048 + ], + [ + -0.012277067638933659, + 0.995400607585907, + -0.09500975161790848, + 0.048454620235640074 + ], + [ + -0.013080805540084839, + 0.09484890848398209, + 0.9954057335853577, + 0.014768124740246845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605164, + 0.007106535602360964, + 0.02068468928337097, + -0.012978141681473378 + ], + [ + -0.0055058724246919155, + 0.997059166431427, + -0.07643726468086243, + 0.026092664897441865 + ], + [ + -0.02116706222295761, + 0.076305091381073, + 0.9968597888946533, + 0.005881063551034616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.00595441646873951, + 0.022774621844291687, + -0.016069660043222425 + ], + [ + -0.004311687313020229, + 0.9974305033683777, + -0.07151050120592117, + 0.016969802392565687 + ], + [ + -0.023141905665397644, + 0.0713924840092659, + 0.9971798062324524, + 0.004640489994831708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.005955101922154427, + 0.02482219971716404, + -0.019383067653878875 + ], + [ + -0.004120660945773125, + 0.9973006844520569, + -0.07330973446369171, + 0.015999003402564833 + ], + [ + -0.025191763415932655, + 0.0731835663318634, + 0.9970002770423889, + 0.004064360358144926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.006376426201313734, + 0.02538127824664116, + -0.020950299539633663 + ], + [ + -0.0044679357670247555, + 0.9972071647644043, + -0.07455149292945862, + 0.013968674708967621 + ], + [ + -0.025785762816667557, + 0.07441255450248718, + 0.996894121170044, + 0.004270530933433252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515503, + 0.006418973207473755, + 0.02483879216015339, + -0.02110965971065604 + ], + [ + -0.004500090144574642, + 0.9970554113388062, + -0.07655216753482819, + 0.012359311269677202 + ], + [ + -0.025257037952542305, + 0.07641519606113434, + 0.9967561364173889, + 0.004535433637869099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469055, + 0.006868094205856323, + 0.024720177054405212, + -0.021582901639782864 + ], + [ + -0.004879595711827278, + 0.9968133568763733, + -0.07961994409561157, + 0.01099452778049137 + ], + [ + -0.02518824115395546, + 0.0794731080532074, + 0.9965187311172485, + 0.004933728755492231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.0070471568033099174, + 0.025016335770487785, + -0.022532097628826034 + ], + [ + -0.00497843511402607, + 0.9966351389884949, + -0.08181419223546982, + 0.007789284509161241 + ], + [ + -0.025508718565106392, + 0.08166200667619705, + 0.9963335990905762, + 0.004466339573264122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.007975968532264233, + 0.025857478380203247, + -0.024040236056316645 + ], + [ + -0.005721102003008127, + 0.9962671995162964, + -0.08613325655460358, + 0.006077710539102547 + ], + [ + -0.026447951793670654, + 0.08595378696918488, + 0.9959480166435242, + 0.004299668967723846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.008404552936553955, + 0.025899531319737434, + -0.024304744342099064 + ], + [ + -0.006032766308635473, + 0.9958935976028442, + -0.09033027291297913, + 0.003187503827654793 + ], + [ + -0.026552362367510796, + 0.09014053642749786, + 0.9955750107765198, + 0.0049987571394961815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.009213109500706196, + 0.026887476444244385, + -0.025921552913243193 + ], + [ + -0.006625215522944927, + 0.9954745173454285, + -0.09479790925979614, + -0.00018928138458210175 + ], + [ + -0.027639180421829224, + 0.0945814698934555, + 0.9951333403587341, + 0.004428174306193124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.009413432329893112, + 0.02715360000729561, + -0.02642966865197472 + ], + [ + -0.006644922774285078, + 0.9949347972869873, + -0.10030249506235123, + -0.003142845760221065 + ], + [ + -0.02796025201678276, + 0.10008063167333603, + 0.9945864081382751, + 0.004530796538228575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278503, + 0.010448411107063293, + 0.028303269296884537, + -0.028154862583007503 + ], + [ + -0.007394106592983007, + 0.9943445324897766, + -0.1059446632862091, + -0.006502985435983412 + ], + [ + -0.02925015613436699, + 0.10568715631961823, + 0.9939691424369812, + 0.004327086529330067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999527096748352, + 0.010755124501883984, + 0.028808332979679108, + -0.029165893387170915 + ], + [ + -0.007457084022462368, + 0.9936536550521851, + -0.11223530024290085, + -0.009375106802453168 + ], + [ + -0.029832608997821808, + 0.11196739226579666, + 0.9932639598846436, + 0.003928081553591334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.01173768937587738, + 0.02939232997596264, + -0.029598339784728443 + ], + [ + -0.00817660242319107, + 0.9929239153862, + -0.11847055703401566, + -0.012662179687100907 + ], + [ + -0.030574915930628777, + 0.11817087978124619, + 0.9925224781036377, + 0.004397332121658585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.01284224446862936, + 0.030594753101468086, + -0.030988814481331603 + ], + [ + -0.008924922905862331, + 0.9921296834945679, + -0.12489606440067291, + -0.01625683868060942 + ], + [ + -0.03195790946483612, + 0.12455423176288605, + 0.9916980266571045, + 0.004296927891023781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.013437540270388126, + 0.03142225742340088, + -0.031829136632808036 + ], + [ + -0.009216981939971447, + 0.9913663864135742, + -0.13079671561717987, + -0.020522367565528207 + ], + [ + -0.03290855139493942, + 0.1304306834936142, + 0.9909111261367798, + 0.004204963171935599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394226, + 0.014365378767251968, + 0.032401151955127716, + -0.03274064277420225 + ], + [ + -0.009735409170389175, + 0.9902763962745667, + -0.13877291977405548, + -0.022234203391101055 + ], + [ + -0.034079618752002716, + 0.13837029039859772, + 0.9897940158843994, + 0.004424839005198167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.014735107310116291, + 0.03306347131729126, + -0.03312400103820002 + ], + [ + -0.009789164178073406, + 0.9893760681152344, + -0.14504872262477875, + -0.02561383440118769 + ], + [ + -0.03484951704740524, + 0.14462999999523163, + 0.9888719320297241, + 0.0045917648012223445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.015337885357439518, + 0.03431614488363266, + -0.03381857312405887 + ], + [ + -0.009993080981075764, + 0.9885103702545166, + -0.15082229673862457, + -0.028569047663198864 + ], + [ + -0.03623516112565994, + 0.15037278831005096, + 0.9879651069641113, + 0.004221712724994059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.015444952994585037, + 0.03600665554404259, + -0.03463506676945025 + ], + [ + -0.00962134450674057, + 0.9876108169555664, + -0.15662787854671478, + -0.03079316651691561 + ], + [ + -0.037979673594236374, + 0.15616117417812347, + 0.9870011210441589, + 0.004174974147716294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067444, + 0.015571298077702522, + 0.03744126856327057, + -0.0347375297534239 + ], + [ + -0.009332213550806046, + 0.9868494272232056, + -0.16137243807315826, + -0.03383069921122945 + ], + [ + -0.03946167230606079, + 0.16089029610157013, + 0.9861831068992615, + 0.0039950487325372906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.015573395416140556, + 0.03915471211075783, + -0.03486187277139043 + ], + [ + -0.008849537000060081, + 0.9860241413116455, + -0.16636738181114197, + -0.03695767152163646 + ], + [ + -0.04119839891791344, + 0.16587311029434204, + 0.9852861762046814, + 0.0039579853901396626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.01579897478222847, + 0.04070235416293144, + -0.03464266694272342 + ], + [ + -0.008583861403167248, + 0.9851139187812805, + -0.1716882288455963, + -0.04032635121079891 + ], + [ + -0.042808953672647476, + 0.17117512226104736, + 0.9843101501464844, + 0.004155915092838847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.016361400485038757, + 0.04317878186702728, + -0.035557755755017635 + ], + [ + -0.008463001810014248, + 0.9841516017913818, + -0.1771269291639328, + -0.0442456638885905 + ], + [ + -0.045392513275146484, + 0.17657257616519928, + 0.9832403659820557, + 0.004110155708116034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.016970030963420868, + 0.045455485582351685, + -0.03601667088173006 + ], + [ + -0.008352922275662422, + 0.982995331287384, + -0.18344049155712128, + -0.04695558113187714 + ], + [ + -0.04779551923274994, + 0.18284474313259125, + 0.9819793105125427, + 0.004492838640251885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.01748301088809967, + 0.047148268669843674, + -0.036197547314931515 + ], + [ + -0.008270947262644768, + 0.981958270072937, + -0.1889168918132782, + -0.050560511875411746 + ], + [ + -0.049600470811128616, + 0.18828794360160828, + 0.9808605909347534, + 0.004293014457368332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865723, + 0.01858258619904518, + 0.049399469047784805, + -0.0372562232710745 + ], + [ + -0.008579387329518795, + 0.9806725978851318, + -0.1954677402973175, + -0.052556172738094695 + ], + [ + -0.052076999098062515, + 0.19477149844169617, + 0.9794651865959167, + 0.004247250586100246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.01906079612672329, + 0.05056662857532501, + -0.036807378392626086 + ], + [ + -0.008519092574715614, + 0.979552149772644, + -0.20101001858711243, + -0.055961237232322276 + ], + [ + -0.05336406081914902, + 0.20028552412986755, + 0.978283166885376, + 0.0036022214785866122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.020068388432264328, + 0.05223670229315758, + -0.036732851871815714 + ], + [ + -0.00883301068097353, + 0.9782982468605042, + -0.20701347291469574, + -0.058938269381937775 + ], + [ + -0.05525750294327736, + 0.20622767508029938, + 0.9769425392150879, + 0.0036395299450858783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.02098757028579712, + 0.05362417548894882, + -0.036118408843227055 + ], + [ + -0.009101630188524723, + 0.9770225882530212, + -0.21294136345386505, + -0.06168719572217568 + ], + [ + -0.05686115473508835, + 0.21209995448589325, + 0.9755923748016357, + 0.003105196599727092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302429, + 0.0217584315687418, + 0.055909838527441025, + -0.036464682687073945 + ], + [ + -0.009053947404026985, + 0.9758765697479248, + -0.21813525259494781, + -0.06574527770280839 + ], + [ + -0.05930737778544426, + 0.21723611652851105, + 0.9743157029151917, + 0.0027423489838838567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.02219223976135254, + 0.057744357734918594, + -0.03634336888790131 + ], + [ + -0.008665273897349834, + 0.9743892550468445, + -0.22470079362392426, + -0.06787492041678533 + ], + [ + -0.06125209853053093, + 0.22377006709575653, + 0.9727153778076172, + 0.002573236620620539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.02254362963140011, + 0.059229522943496704, + -0.035885759453167736 + ], + [ + -0.0082728061825037, + 0.9729372262954712, + -0.23092132806777954, + -0.06954388974801354 + ], + [ + -0.06283241510391235, + 0.2299671471118927, + 0.9711679816246033, + 0.001867208338302116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.021929867565631866, + 0.060454998165369034, + -0.03509209554075547 + ], + [ + -0.00716259004548192, + 0.9721141457557678, + -0.23439866304397583, + -0.07442082837224007 + ], + [ + -0.06390949338674545, + 0.23348045349121094, + 0.9702589511871338, + 0.001213372037138628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.022857923060655594, + 0.06275815516710281, + -0.0359396551290284 + ], + [ + -0.007085306569933891, + 0.9705377221107483, + -0.24084506928920746, + -0.07389194618748582 + ], + [ + -0.06641437858343124, + 0.2398626059293747, + 0.9685324430465698, + 0.0007013361739075692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990967, + 0.022836510092020035, + 0.06369549036026001, + -0.03526844236716304 + ], + [ + -0.006593511439859867, + 0.9696597456932068, + -0.24436970055103302, + -0.07668875326281008 + ], + [ + -0.06734350323677063, + 0.24338965117931366, + 0.9675878882408142, + 0.0004759188255538116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731384, + 0.022658245638012886, + 0.06370363384485245, + -0.0338774671231437 + ], + [ + -0.006218820810317993, + 0.968935489654541, + -0.24723535776138306, + -0.07962568930309752 + ], + [ + -0.0673266276717186, + 0.24627342820167542, + 0.9668591022491455, + -0.00023780767198490135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430481, + 0.022214021533727646, + 0.06285545229911804, + -0.03204003532984011 + ], + [ + -0.005891245789825916, + 0.9685425162315369, + -0.24877847731113434, + -0.08470806246218474 + ], + [ + -0.0664045512676239, + 0.24785475432872772, + 0.966518759727478, + -0.0011395155978591535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.02297596074640751, + 0.06270275264978409, + -0.03188026552695943 + ], + [ + -0.006352042779326439, + 0.967345118522644, + -0.25338318943977356, + -0.08622898614924887 + ], + [ + -0.06647691875696182, + 0.25241926312446594, + 0.9653317332267761, + -0.001295921271261961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001587, + 0.024106651544570923, + 0.062348201870918274, + -0.03179321818701599 + ], + [ + -0.007149352692067623, + 0.9658434987068176, + -0.2590274214744568, + -0.08716334791287132 + ], + [ + -0.06646288931369781, + 0.25800228118896484, + 0.9638555645942688, + -0.0020402394963995284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.025127019733190536, + 0.061808183789253235, + -0.03146891357863079 + ], + [ + -0.00790814682841301, + 0.964383065700531, + -0.26439133286476135, + -0.08844586691778639 + ], + [ + -0.06625013053417206, + 0.2633133828639984, + 0.962432861328125, + -0.0029484442475697283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.026491761207580566, + 0.061391349881887436, + -0.031228124253127886 + ], + [ + -0.008958176709711552, + 0.9628472924232483, + -0.26989778876304626, + -0.08943444477475207 + ], + [ + -0.06626056134700775, + 0.2687438428401947, + 0.9609299302101135, + -0.004392274793075478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.997768759727478, + 0.027361121028661728, + 0.06090030074119568, + -0.030921764428848805 + ], + [ + -0.009600468911230564, + 0.9614867568016052, + -0.27468350529670715, + -0.09058514234164486 + ], + [ + -0.06607048213481903, + 0.27348592877388, + 0.9596041440963745, + -0.006038068874698618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.02765067294239998, + 0.06033976748585701, + -0.030621918171401256 + ], + [ + -0.00972452387213707, + 0.960184633731842, + -0.2791968286037445, + -0.09132690662923067 + ], + [ + -0.06565729528665543, + 0.2779943645000458, + 0.9583361744880676, + -0.0072105387630669975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621277, + 0.02779082953929901, + 0.059224676340818405, + -0.030187690274223036 + ], + [ + -0.009968835860490799, + 0.9593074321746826, + -0.28218764066696167, + -0.09259960729142894 + ], + [ + -0.06465689837932587, + 0.2809927463531494, + 0.9575294256210327, + -0.009006042167058456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.02732110023498535, + 0.05665348842740059, + -0.027434815660766932 + ], + [ + -0.010183447040617466, + 0.9590361714363098, + -0.28310060501098633, + -0.09526848660215087 + ], + [ + -0.062067363411188126, + 0.28196316957473755, + 0.9574154615402222, + -0.010935345753703429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518921, + 0.02725362963974476, + 0.055557575076818466, + -0.026554254924311585 + ], + [ + -0.010300735011696815, + 0.9584397077560425, + -0.28510910272598267, + -0.09574734954082448 + ], + [ + -0.061018843203783035, + 0.28399038314819336, + 0.9568835496902466, + -0.012709666760233433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.026886502280831337, + 0.05255064740777016, + -0.022445861299765175 + ], + [ + -0.010742219164967537, + 0.9581257700920105, + -0.2861461639404297, + -0.09683624612896338 + ], + [ + -0.058043595403432846, + 0.28508269786834717, + 0.9567438364028931, + -0.013628854246243185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.02632264979183674, + 0.05048767477273941, + -0.019880210525234757 + ], + [ + -0.01075446791946888, + 0.9579384326934814, + -0.2867721617221832, + -0.0978056579504324 + ], + [ + -0.05591268837451935, + 0.2857639491558075, + 0.9566675424575806, + -0.015052246496729229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.025764308869838715, + 0.04729223623871803, + -0.015723043028265236 + ], + [ + -0.011069864965975285, + 0.957582414150238, + -0.28794682025909424, + -0.09751156221913256 + ], + [ + -0.05270496383309364, + 0.2870054244995117, + 0.95647794008255, + -0.01568240002607522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.024666791781783104, + 0.0440717376768589, + -0.011549885441427645 + ], + [ + -0.010880136862397194, + 0.9572102427482605, + -0.28918883204460144, + -0.09699601359341456 + ], + [ + -0.049319278448820114, + 0.2883402407169342, + 0.9562570452690125, + -0.016143096880177444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.02333184704184532, + 0.039388496428728104, + -0.00511146187984749 + ], + [ + -0.010894689708948135, + 0.9568221569061279, + -0.2904696464538574, + -0.09681305535461592 + ], + [ + -0.04446497932076454, + 0.28973597288131714, + 0.9560731649398804, + -0.015961099581023597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.999022901058197, + 0.021438565105199814, + 0.0386476069688797, + -0.004805409033661303 + ], + [ + -0.009327387437224388, + 0.9570468068122864, + -0.28978341817855835, + -0.09880357815519623 + ], + [ + -0.043200112879276276, + 0.2891398072242737, + 0.9563116431236267, + -0.018071035636113147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.02055411785840988, + 0.03429413214325905, + 0.0009991500992327929 + ], + [ + -0.009684556163847446, + 0.9566200971603394, + -0.29117727279663086, + -0.0979093424975872 + ], + [ + -0.03879134729504585, + 0.2906123399734497, + 0.9560542702674866, + -0.01816264513763599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.01957114413380623, + 0.033238962292671204, + 0.0020635373930892216 + ], + [ + -0.009049003012478352, + 0.956614077091217, + -0.2912174165248871, + -0.09873686102421389 + ], + [ + -0.03749631345272064, + 0.29069992899894714, + 0.9560793042182922, + -0.019567330713059918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9991267323493958, + 0.018968984484672546, + 0.03722758963704109, + -0.004289279835622595 + ], + [ + -0.00731707364320755, + 0.9566694498062134, + -0.29108425974845886, + -0.09968591027933618 + ], + [ + -0.04113606736063957, + 0.2905576527118683, + 0.9559728503227234, + -0.022680566123808206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.01813526451587677, + 0.029316460713744164, + 0.00664920891513643 + ], + [ + -0.008797070011496544, + 0.9564486145973206, + -0.2917681038379669, + -0.10036544323615407 + ], + [ + -0.03333098068833351, + 0.2913368046283722, + 0.9560397267341614, + -0.022809802501907818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199951, + 0.01770026423037052, + 0.02899668738245964, + 0.007044873237812325 + ], + [ + -0.008438151329755783, + 0.9561333060264587, + -0.2928103804588318, + -0.10080915948619013 + ], + [ + -0.03290751948952675, + 0.2923966646194458, + 0.9557307362556458, + -0.02319078011357266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492126, + 0.01685449667274952, + 0.028420694172382355, + 0.007058511690601059 + ], + [ + -0.007757614832371473, + 0.9557737112045288, + -0.2940008342266083, + -0.10115036951458972 + ], + [ + -0.032118987292051315, + 0.293619841337204, + 0.9553825259208679, + -0.025254948186161724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.016039585694670677, + 0.027598802000284195, + 0.007730972682854728 + ], + [ + -0.007185886148363352, + 0.9554562568664551, + -0.2950453460216522, + -0.10190450921654702 + ], + [ + -0.031101852655410767, + 0.2946966588497162, + 0.9550845623016357, + -0.02660992727817401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9995346069335938, + 0.015247568488121033, + 0.026421522721648216, + 0.008949396573007107 + ], + [ + -0.006741792429238558, + 0.9551193118095398, + -0.29614463448524475, + -0.1026628676963889 + ], + [ + -0.029751190915703773, + 0.2958286702632904, + 0.9547775983810425, + -0.02796615920960903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.015149546787142754, + 0.02469441294670105, + 0.011410113734841023 + ], + [ + -0.007122847717255354, + 0.9547296166419983, + -0.2973896563053131, + -0.10308445293618286 + ], + [ + -0.028081808239221573, + 0.29708895087242126, + 0.9544367790222168, + -0.028711952034222044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.01469515636563301, + 0.023525867611169815, + 0.013250470922692962 + ], + [ + -0.007002733647823334, + 0.9543582201004028, + -0.29858213663101196, + -0.10355042620845463 + ], + [ + -0.026839815080165863, + 0.2983025312423706, + 0.9540939331054688, + -0.030088115775066874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.014255501329898834, + 0.022258255630731583, + 0.015129212998663601 + ], + [ + -0.006950950715690851, + 0.9542365074157715, + -0.29897212982177734, + -0.1045530644123969 + ], + [ + -0.025501638650894165, + 0.29871296882629395, + 0.9540022015571594, + -0.03148168369965709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.999679446220398, + 0.013773739337921143, + 0.021242758259177208, + 0.016855467920717987 + ], + [ + -0.006781786680221558, + 0.9540805220603943, + -0.29947352409362793, + -0.10486085955863413 + ], + [ + -0.02439217083156109, + 0.29923349618911743, + 0.9538680911064148, + -0.03236953108369008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.013498718850314617, + 0.020003944635391235, + 0.018864096439463775 + ], + [ + -0.006886289454996586, + 0.9540290236473083, + -0.2996351718902588, + -0.10550285574534665 + ], + [ + -0.023129034787416458, + 0.2994101643562317, + 0.9538441300392151, + -0.03338066469877958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.013105448335409164, + 0.019050858914852142, + 0.020234498608371485 + ], + [ + -0.006793595850467682, + 0.9539903402328491, + -0.2997603416442871, + -0.10629103335997332 + ], + [ + -0.022102829068899155, + 0.29955077171325684, + 0.9538242816925049, + -0.03417104843841946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.012848930433392525, + 0.017874201759696007, + 0.021151218570404404 + ], + [ + -0.006899069529026747, + 0.9539555907249451, + -0.2998685836791992, + -0.10726495673475057 + ], + [ + -0.020904185250401497, + 0.29967260360717773, + 0.9538130760192871, + -0.034732917947289735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012085, + 0.01229442935436964, + 0.016187604516744614, + 0.022521750642108204 + ], + [ + -0.006877788342535496, + 0.9539898633956909, + -0.2997598946094513, + -0.10862033085330673 + ], + [ + -0.019128188490867615, + 0.29958662390708923, + 0.953877329826355, + -0.03544051443105159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.011615701019763947, + 0.014489619061350822, + 0.02374961695674321 + ], + [ + -0.006735567003488541, + 0.9539309144020081, + -0.29995065927505493, + -0.1099279631415139 + ], + [ + -0.017306232824921608, + 0.2998013496398926, + 0.9538446664810181, + -0.035957675289524635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.01100757997483015, + 0.012793038040399551, + 0.02479679860863025 + ], + [ + -0.006657890044152737, + 0.9538103938102722, + -0.30033543705940247, + -0.11136025517531063 + ], + [ + -0.015508098527789116, + 0.3002074658870697, + 0.9537478685379028, + -0.03637412877996331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.010259771719574928, + 0.011384222656488419, + 0.02542926722469375 + ], + [ + -0.006358100101351738, + 0.9536084532737732, + -0.3009825050830841, + -0.11275157283829607 + ], + [ + -0.013944102451205254, + 0.300874799489975, + 0.9535617232322693, + -0.03640124641520821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634399, + 0.009562669321894646, + 0.009711958467960358, + 0.0264792214491931 + ], + [ + -0.006183892488479614, + 0.9532966613769531, + -0.30197229981422424, + -0.11349306420787522 + ], + [ + -0.012146038934588432, + 0.3018842041492462, + 0.9532672166824341, + -0.03639315687443899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.009050115942955017, + 0.007406006567180157, + 0.028699336694958416 + ], + [ + -0.006386688444763422, + 0.9531480669975281, + -0.3024367690086365, + -0.11442365578335263 + ], + [ + -0.00979610811918974, + 0.30236876010894775, + 0.9531406760215759, + -0.03628805101565692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.008848156780004501, + 0.005254167132079601, + 0.030941075718273287 + ], + [ + -0.006839944049715996, + 0.9529503583908081, + -0.30304932594299316, + -0.114573751260405 + ], + [ + -0.007688388228416443, + 0.302997350692749, + 0.9529603719711304, + -0.03622745737109495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.008388788439333439, + 0.0042376890778541565, + 0.031763856156992364 + ], + [ + -0.006710602901875973, + 0.9529709815979004, + -0.3029872477054596, + -0.11521989916977675 + ], + [ + -0.0065800901502370834, + 0.30294540524482727, + 0.9529851675033569, + -0.03614391665095869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.007891487330198288, + 0.0028796824626624584, + 0.03315321868285537 + ], + [ + -0.006649356335401535, + 0.9530461430549622, + -0.30275216698646545, + -0.1155918098986149 + ], + [ + -0.005133634898811579, + 0.30272236466407776, + 0.9530649781227112, + -0.03559772837907076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.007440454326570034, + 0.0017033653566613793, + 0.03426913317120837 + ], + [ + -0.006577573716640472, + 0.953201174736023, + -0.3022651970386505, + -0.11605507809182873 + ], + [ + -0.0038726404309272766, + 0.302245169878006, + 0.9532223343849182, + -0.034833946062818824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.007206707261502743, + 0.00023568153847008944, + 0.03573358082212508 + ], + [ + -0.006799705326557159, + 0.9533676505088806, + -0.3017348051071167, + -0.11629485857227574 + ], + [ + -0.002399205695837736, + 0.3017253875732422, + 0.9533918499946594, + -0.034205341266225216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.007215050049126148, + -0.0013026536908000708, + 0.03706134509487564 + ], + [ + -0.007272626273334026, + 0.9536243677139282, + -0.3009113669395447, + -0.11662196309670159 + ], + [ + -0.0009288478759117424, + 0.3009127378463745, + 0.9536512494087219, + -0.03361352170291154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.007200681138783693, + -0.0029490399174392223, + 0.03835774266980994 + ], + [ + -0.007753776852041483, + 0.9538871645927429, + -0.3000653386116028, + -0.11683487574691358 + ], + [ + 0.0006523765623569489, + 0.3000791072845459, + 0.9539141058921814, + -0.03327066605991644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.0073445760644972324, + -0.004333018325269222, + 0.039050939287636026 + ], + [ + -0.008303535170853138, + 0.9543184041976929, + -0.29867619276046753, + -0.11759201511740686 + ], + [ + 0.0019414287526160479, + 0.29870128631591797, + 0.9543446898460388, + -0.03290651967020139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.00758214620873332, + -0.005407380871474743, + 0.03948384274364165 + ], + [ + -0.008846807293593884, + 0.9547628164291382, + -0.29723671078681946, + -0.1182388060118841 + ], + [ + 0.0029090745374560356, + 0.29727163910865784, + 0.9547885060310364, + -0.032339220971840874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.999944269657135, + 0.007875194773077965, + -0.007030118256807327, + 0.04078631872898373 + ], + [ + -0.00960238091647625, + 0.9552057981491089, + -0.2957865297794342, + -0.11875652084531992 + ], + [ + 0.004385833628475666, + 0.29583755135536194, + 0.9552282094955444, + -0.03203397940682329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.008488552644848824, + -0.008215175941586494, + 0.041483900629226925 + ], + [ + -0.010531414300203323, + 0.9556097388267517, + -0.2944472134113312, + -0.11919998575163925 + ], + [ + 0.005351071245968342, + 0.29451319575309753, + 0.9556324481964111, + -0.03127846790720587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301025, + 0.009077849797904491, + -0.009421899914741516, + 0.04244923044512372 + ], + [ + -0.011442153714597225, + 0.9559639096260071, + -0.29326117038726807, + -0.11974022070998731 + ], + [ + 0.006344815716147423, + 0.2933439016342163, + 0.9559859037399292, + -0.030615921411663298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.009452003985643387, + -0.010222547687590122, + 0.042742668116546194 + ], + [ + -0.012028098106384277, + 0.9562346339225769, + -0.29235365986824036, + -0.12012671144760174 + ], + [ + 0.007011826150119305, + 0.2924482524394989, + 0.9562556147575378, + -0.030170658502079874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.009715363383293152, + -0.010953372344374657, + 0.042767956504679246 + ], + [ + -0.012486658990383148, + 0.9564980268478394, + -0.2914715111255646, + -0.12072718146702519 + ], + [ + 0.007645128294825554, + 0.291577011346817, + 0.9565168023109436, + -0.029966090749139373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.009856334887444973, + -0.011652341112494469, + 0.04264588511812136 + ], + [ + -0.01281923707574606, + 0.9567082524299622, + -0.29076623916625977, + -0.12132671410622804 + ], + [ + 0.008282002061605453, + 0.2908817529678345, + 0.956723153591156, + -0.029638363514095545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.009932444430887699, + -0.01313873939216137, + 0.043539863286803114 + ], + [ + -0.013320253230631351, + 0.9568285942077637, + -0.29034748673439026, + -0.12166621131093605 + ], + [ + 0.00968766026198864, + 0.2904830873012543, + 0.9568310976028442, + -0.02944554056486358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.010340643115341663, + -0.013315418735146523, + 0.04280425300821662 + ], + [ + -0.013758896850049496, + 0.9569211006164551, + -0.2900218367576599, + -0.12176399253632712 + ], + [ + 0.009742794558405876, + 0.2901638150215149, + 0.9569274187088013, + -0.02931355946575818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.010536699555814266, + -0.014125842601060867, + 0.04288410177990875 + ], + [ + -0.01417627651244402, + 0.957065999507904, + -0.289523184299469, + -0.12194124703174053 + ], + [ + 0.010468745604157448, + 0.2896784543991089, + 0.9570667743682861, + -0.02941052199381849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9998363256454468, + 0.010891634970903397, + -0.01444687508046627, + 0.04251786670850023 + ], + [ + -0.01459907554090023, + 0.9573293328285217, + -0.2886301577091217, + -0.1226103073876837 + ], + [ + 0.010686762630939484, + 0.2887938320636749, + 0.957331657409668, + -0.029029193913321132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.011450154706835747, + -0.014529063366353512, + 0.04194422920092778 + ], + [ + -0.015150830149650574, + 0.9575045108795166, + -0.28802019357681274, + -0.12291320672501688 + ], + [ + 0.010613768361508846, + 0.288191020488739, + 0.9575141072273254, + -0.028947879418568766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.011858062818646431, + -0.014580335468053818, + 0.041366194937702105 + ], + [ + -0.015548942610621452, + 0.957697331905365, + -0.2873569428920746, + -0.12358288936640906 + ], + [ + 0.010556051507592201, + 0.28753289580345154, + 0.9577125906944275, + -0.02874706323946948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.012128437869250774, + -0.01464923843741417, + 0.04079789528268916 + ], + [ + -0.015820525586605072, + 0.9578892588615417, + -0.28670182824134827, + -0.12424632016083469 + ], + [ + 0.010555103421211243, + 0.2868817150592804, + 0.9579078555107117, + -0.028639051107608757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.012183948419988155, + -0.015137601643800735, + 0.0405845779105616 + ], + [ + -0.016006914898753166, + 0.9580661058425903, + -0.28609979152679443, + -0.12460692359701447 + ], + [ + 0.011016998440027237, + 0.2862880825996399, + 0.9580802321434021, + -0.028536507750496917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.012012994848191738, + -0.015673071146011353, + 0.04035307344241554 + ], + [ + -0.015984533354640007, + 0.9583596587181091, + -0.2851162254810333, + -0.1254565300500911 + ], + [ + 0.011595341376960278, + 0.28531113266944885, + 0.9583648443222046, + -0.028352295263143985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.012110580690205097, + -0.01639024168252945, + 0.03921756982479407 + ], + [ + -0.016277389600872993, + 0.9584789872169495, + -0.2846982777118683, + -0.12582973844331244 + ], + [ + 0.012261840514838696, + 0.28490594029426575, + 0.9584770798683167, + -0.027951820257484265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.012454718351364136, + -0.01676257885992527, + 0.03888980783522129 + ], + [ + -0.016713786870241165, + 0.9584629535675049, + -0.2847267985343933, + -0.12547177448868752 + ], + [ + 0.012520119547843933, + 0.28494489192962646, + 0.958462119102478, + -0.028465834399685266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.011867624707520008, + -0.016696546226739883, + 0.03883771472306841 + ], + [ + -0.016128212213516235, + 0.9585614800453186, + -0.2844289243221283, + -0.1258940682463024 + ], + [ + 0.012629170902073383, + 0.28463855385780334, + 0.9585517048835754, + -0.02820963351784841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.011898798868060112, + -0.016527118161320686, + 0.03833945836851616 + ], + [ + -0.016109328716993332, + 0.9585740566253662, + -0.28438764810562134, + -0.12662508377562398 + ], + [ + 0.012458594515919685, + 0.28459489345550537, + 0.9585669040679932, + -0.02837351708591956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.999800980091095, + 0.01179526373744011, + -0.016088683158159256, + 0.03757305534799462 + ], + [ + -0.015881424769759178, + 0.9586682319641113, + -0.2840828597545624, + -0.12794743319568425 + ], + [ + 0.012072877027094364, + 0.28428182005882263, + 0.9586647748947144, + -0.028694420607517594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692444, + 0.01237634476274252, + -0.016462460160255432, + 0.03736874410811731 + ], + [ + -0.016553102061152458, + 0.9584661722183228, + -0.284725546836853, + -0.12808018420701442 + ], + [ + 0.012254849076271057, + 0.28493767976760864, + 0.9584677219390869, + -0.028648552687271785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348206, + 0.012780892662703991, + -0.01641402579843998, + 0.03667796826617711 + ], + [ + -0.01693068817257881, + 0.9583755731582642, + -0.28500810265541077, + -0.12842323287673618 + ], + [ + 0.012088143266737461, + 0.2852243483066559, + 0.9583845734596252, + -0.028725317685419454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.013170582242310047, + -0.01641548052430153, + 0.0360276526594332 + ], + [ + -0.017300555482506752, + 0.9584664106369019, + -0.2846803069114685, + -0.12905865716545478 + ], + [ + 0.011984280310571194, + 0.2849012613296509, + 0.9584819674491882, + -0.028793324402573966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.013317734003067017, + -0.015992529690265656, + 0.03488415605995966 + ], + [ + -0.017315302044153214, + 0.9586091041564941, + -0.28419846296310425, + -0.1294513954092627 + ], + [ + 0.011545705609023571, + 0.28441381454467773, + 0.9586321115493774, + -0.029001078428700568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.01368729118257761, + -0.015205700881779194, + 0.033213954118748557 + ], + [ + -0.01744253747165203, + 0.9586939811706543, + -0.2839042842388153, + -0.12955993928987047 + ], + [ + 0.010691733099520206, + 0.28411009907722473, + 0.9587320685386658, + -0.029192669663335318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421875, + 0.013676067814230919, + -0.014477606862783432, + 0.03196897524732934 + ], + [ + -0.01721770130097866, + 0.9589017629623413, + -0.2832152843475342, + -0.13038688282603805 + ], + [ + 0.01000933162868023, + 0.28340840339660645, + 0.9589470624923706, + -0.02930621992108291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.013848480768501759, + -0.01349636260420084, + 0.030110549473750366 + ], + [ + -0.017103176563978195, + 0.9589590430259705, + -0.283028244972229, + -0.13060633977470193 + ], + [ + 0.009022948332130909, + 0.28320616483688354, + 0.9590166211128235, + -0.029719075929049567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.999824583530426, + 0.013728667981922626, + -0.012739814817905426, + 0.028577527729794383 + ], + [ + -0.01677251234650612, + 0.9590147137641907, + -0.2828594148159027, + -0.1308615681917771 + ], + [ + 0.008334387093782425, + 0.28302350640296936, + 0.9590767621994019, + -0.03002831415354234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.013748432509601116, + -0.012272721156477928, + 0.027845628543898625 + ], + [ + -0.016660628840327263, + 0.9589675068855286, + -0.2830260992050171, + -0.13109631771626679 + ], + [ + 0.007877975702285767, + 0.2831825017929077, + 0.9590336680412292, + -0.02996728902723154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.013619882985949516, + -0.011728364042937756, + 0.027058396259646702 + ], + [ + -0.016384350135922432, + 0.9589269757270813, + -0.2831794321537018, + -0.13170790899059048 + ], + [ + 0.007389775477349758, + 0.28332582116127014, + 0.9589952230453491, + -0.030150702636203043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.013129913248121738, + -0.010828699916601181, + 0.025705252381790753 + ], + [ + -0.0156614538282156, + 0.9588568210601807, + -0.28345778584480286, + -0.13217456363465474 + ], + [ + 0.006661396473646164, + 0.2835863530635834, + 0.9589235782623291, + -0.030578757008618635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.012918918393552303, + -0.008521311916410923, + 0.022094563516261784 + ], + [ + -0.01480634231120348, + 0.9587716460227966, + -0.28379157185554504, + -0.1319299890619257 + ], + [ + 0.004503712058067322, + 0.2838837802410126, + 0.9588481187820435, + -0.03097247088773419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.012471792288124561, + -0.00764962425455451, + 0.02062399253886922 + ], + [ + -0.014129041694104671, + 0.9588639736175537, + -0.2835140824317932, + -0.13234516220248266 + ], + [ + 0.003799020778387785, + 0.2835918068885803, + 0.9589375853538513, + -0.031170539845429036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.012243223376572132, + -0.007329609245061874, + 0.019977271082082197 + ], + [ + -0.013818559236824512, + 0.9589112401008606, + -0.28336960077285767, + -0.13285369030807329 + ], + [ + 0.0035590874031186104, + 0.28344202041625977, + 0.9589827656745911, + -0.0312598171400959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.012170713394880295, + -0.007128079421818256, + 0.019572257086553652 + ], + [ + -0.013692483305931091, + 0.9588640332221985, + -0.2835354208946228, + -0.13337428352755049 + ], + [ + 0.0033840304240584373, + 0.28360480070114136, + 0.9589352607727051, + -0.03129657904779458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.012092404067516327, + -0.00668905908241868, + 0.018810745652603066 + ], + [ + -0.013493748381733894, + 0.9587841629981995, + -0.28381478786468506, + -0.13386584364849588 + ], + [ + 0.002981360536068678, + 0.283877968788147, + 0.9588558077812195, + -0.03135622202661698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.012219628319144249, + -0.006055587437003851, + 0.017765244364778957 + ], + [ + -0.013437382876873016, + 0.9586056470870972, + -0.28441986441612244, + -0.1341797255627487 + ], + [ + 0.0023294161073863506, + 0.28447476029396057, + 0.9586806893348694, + -0.03155081021073072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355713, + 0.012324619106948376, + -0.0058808960020542145, + 0.01726114218548426 + ], + [ + -0.0134885897859931, + 0.9585719108581543, + -0.28453120589256287, + -0.13524103880576466 + ], + [ + 0.0021305226255208254, + 0.28458401560783386, + 0.9586487412452698, + -0.03191101034779263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.012797458097338676, + -0.005433768033981323, + 0.016468071774579585 + ], + [ + -0.013815557584166527, + 0.9583991169929504, + -0.28509700298309326, + -0.13573024298833763 + ], + [ + 0.0015592018608003855, + 0.28514450788497925, + 0.9584832787513733, + -0.03202881691977382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.013290473259985447, + -0.005007470026612282, + 0.01574531411752105 + ], + [ + -0.01416697632521391, + 0.9582738876342773, + -0.2855004370212555, + -0.13604517206549643 + ], + [ + 0.0010040916968137026, + 0.2855425775051117, + 0.9583654999732971, + -0.032536554429680106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/move_left/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc87203d83258d49f919c04581544102c60657b --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/move_left/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.29400126147084e-05, + 0.00024093473621178418, + -0.0007872360507937391 + ], + [ + 7.308429485419765e-05, + 0.9999998211860657, + -0.0005989032797515392, + 0.0007016375672719733 + ], + [ + -0.00024089102225843817, + 0.0005989208584651351, + 0.9999998211860657, + -0.00022564993287232937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 7.64142896514386e-06, + 0.00039224125794135034, + -0.0015295962069143095 + ], + [ + -7.184681635408197e-06, + 0.9999993443489075, + -0.0011644421610981226, + 0.0013862039291473633 + ], + [ + -0.00039224987267516553, + 0.0011644393671303988, + 0.9999992251396179, + -0.00035785602613822964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.649810140719637e-05, + 0.0007247389294207096, + -0.002522040717303753 + ], + [ + -7.541389641119167e-05, + 0.9999988675117493, + -0.0014958935789763927, + 0.0017945767841727343 + ], + [ + -0.0007248525507748127, + 0.0014958386309444904, + 0.9999986290931702, + -0.00048174193387081764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + 1.2577570487337653e-05, + 0.0007771732634864748, + -0.0034041136138789033 + ], + [ + -1.0976172234222759e-05, + 0.9999978542327881, + -0.002060511615127325, + 0.0020973427415039783 + ], + [ + -0.0007771974778734148, + 0.002060502301901579, + 0.9999975562095642, + -0.0006199649409846524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860657, + 0.00019054125004913658, + 0.0005764178349636495, + -0.004031555307016748 + ], + [ + -0.00018902587180491537, + 0.999996542930603, + -0.0026278733275830746, + 0.0022018037599358968 + ], + [ + -0.0005769165582023561, + 0.0026277638971805573, + 0.9999963641166687, + -0.0006215043820544531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.0004889839328825474, + 0.0005974089144729078, + -0.004815054350816038 + ], + [ + -0.000487010576762259, + 0.9999944567680359, + -0.0032989170867949724, + 0.0022855507542693014 + ], + [ + -0.0005990187055431306, + 0.0032986251171678305, + 0.9999943971633911, + -0.0007095299769349842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007110527949407697, + 0.0004320366424508393, + -0.005580623203929028 + ], + [ + -0.00070937629789114, + 0.9999922513961792, + -0.003868312109261751, + 0.0023552665694454764 + ], + [ + -0.0004347838694229722, + 0.0038680043071508408, + 0.9999924302101135, + -0.0007956692896423983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007128954166546464, + 0.0004006489471066743, + -0.006882277357837428 + ], + [ + -0.0007112507009878755, + 0.9999913573265076, + -0.004090489353984594, + 0.0021958564716877175 + ], + [ + -0.0004035616002511233, + 0.004090203437954187, + 0.9999915361404419, + -0.0012540277054422008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.0007943193195387721, + 0.00035233303788118064, + -0.008065700460144359 + ], + [ + -0.0007925998652353883, + 0.9999879002571106, + -0.004853838123381138, + 0.0029686484327058954 + ], + [ + -0.0003561842895578593, + 0.004853556863963604, + 0.9999881386756897, + -0.0013897208923520773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006670414004474878, + 0.00016822533507365733, + -0.009033844573423266 + ], + [ + -0.000666158040985465, + 0.9999862909317017, + -0.005197789985686541, + 0.003511656449004279 + ], + [ + -0.00017169017519336194, + 0.0051976763643324375, + 0.999986469745636, + -0.0016303694274424545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0005030512111261487, + -0.0004504503740463406, + -0.009420788567513227 + ], + [ + -0.00050563202239573, + 0.9999833703041077, + -0.005747856106609106, + 0.004301225027934972 + ], + [ + 0.00044755139970220625, + 0.005748082417994738, + 0.9999833703041077, + -0.0018351899982403468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.0005004483973607421, + -0.0012349014868959785, + -0.009510719272024605 + ], + [ + -0.0005081002600491047, + 0.999980628490448, + -0.006203807424753904, + 0.0049001030208866885 + ], + [ + 0.0012317729415372014, + 0.0062044295482337475, + 0.9999799728393555, + -0.0018323078445341115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.000537351006641984, + -0.0012318185763433576, + -0.010324954172677321 + ], + [ + -0.0005456472281366587, + 0.9999771118164062, + -0.006744516082108021, + 0.005240545048930115 + ], + [ + 0.0012281661620363593, + 0.006745181977748871, + 0.9999765157699585, + -0.002066849160916678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009534736745990813, + -0.0011021787067875266, + -0.011086683936983997 + ], + [ + -0.000961759767960757, + 0.9999710917472839, + -0.0075419871136546135, + 0.005377197974050195 + ], + [ + 0.0010949558345600963, + 0.007543039508163929, + 0.9999709725379944, + -0.0020542000816456732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.0011162854498252273, + -0.0011227973736822605, + -0.011604685457828253 + ], + [ + -0.001126102521084249, + 0.9999608397483826, + -0.008781137876212597, + 0.005658468368536611 + ], + [ + 0.001112951198592782, + 0.00878239143639803, + 0.9999608397483826, + -0.00203824348674338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.0010198316304013133, + -0.0009416394750587642, + -0.012262652182708616 + ], + [ + -0.001029227045364678, + 0.9999491572380066, + -0.010031781159341335, + 0.005828753835521639 + ], + [ + 0.0009313608170486987, + 0.01003274042159319, + 0.9999492168426514, + -0.002172220274097408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007766605704091489, + -0.0005797529593110085, + -0.012987650730444686 + ], + [ + -0.0007832953124307096, + 0.9999331831932068, + -0.011532947421073914, + 0.005958613599416466 + ], + [ + 0.0005707570817321539, + 0.011533396318554878, + 0.9999333024024963, + -0.002366697333586078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008707321248948574, + -0.0002847291762009263, + -0.013602018330003256 + ], + [ + -0.0008743436774238944, + 0.9999158978462219, + -0.012939990498125553, + 0.006141522994806544 + ], + [ + 0.00027343793772161007, + 0.012940234504640102, + 0.9999162554740906, + -0.0028233935041656797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999995231628418, + 0.0009543554042465985, + 0.0003136252926196903, + -0.014378349442520868 + ], + [ + -0.0009497980936430395, + 0.999898374080658, + -0.014223447069525719, + 0.0066224997259901695 + ], + [ + -0.00032716765417717397, + 0.014223141595721245, + 0.9998987913131714, + -0.003321395266618271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0009250862058252096, + 0.0011267464142292738, + -0.015101133157377657 + ], + [ + -0.0009077693102881312, + 0.9998829364776611, + -0.015273701399564743, + 0.007354655463764768 + ], + [ + -0.0011407439596951008, + 0.015272662043571472, + 0.999882698059082, + -0.003458371158162861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816956, + 0.0009937994182109833, + 0.002146285492926836, + -0.0161516548053402 + ], + [ + -0.0009599670302122831, + 0.9998762011528015, + -0.01570713147521019, + 0.0077205314967811675 + ], + [ + -0.0021616294980049133, + 0.01570502668619156, + 0.9998743534088135, + -0.0039750770301274635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819702, + 0.0008153708768077195, + 0.003173352684825659, + -0.01712048434773865 + ], + [ + -0.0007638561655767262, + 0.9998684525489807, + -0.016201015561819077, + 0.008004927590081933 + ], + [ + -0.003186145331710577, + 0.016198504716157913, + 0.9998637437820435, + -0.004384810173296896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0009345848229713738, + 0.003337858011946082, + -0.016593564301729202 + ], + [ + -0.0008764644735492766, + 0.9998487234115601, + -0.017371680587530136, + 0.008966350655100541 + ], + [ + -0.003353588515892625, + 0.017368651926517487, + 0.9998435378074646, + -0.004070284214685671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.0008287678356282413, + 0.0045023406855762005, + -0.017387439699276634 + ], + [ + -0.000745337747503072, + 0.999828577041626, + -0.01850055903196335, + 0.009485349710777646 + ], + [ + -0.0045169019140303135, + 0.018497008830308914, + 0.999818742275238, + -0.004186457308495174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112122, + 0.0006885568145662546, + 0.005930440034717321, + -0.018273361006994608 + ], + [ + -0.0005718327593058348, + 0.9998065233230591, + -0.01966145448386669, + 0.010050053150853668 + ], + [ + -0.005942830350250006, + 0.019657714292407036, + 0.9997891187667847, + -0.00441739311487333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 0.00027616453007794917, + 0.007445462979376316, + -0.018920013114162113 + ], + [ + -0.00012348577729426324, + 0.9997898936271667, + -0.02049895189702511, + 0.010568039100990459 + ], + [ + -0.0074495598673820496, + 0.020497461780905724, + 0.9997621774673462, + -0.004768553198031757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412781, + -0.00036024575820192695, + 0.00870597269386053, + -0.01939447403925916 + ], + [ + 0.0005401443922892213, + 0.9997861981391907, + -0.02067030780017376, + 0.011015302024885465 + ], + [ + -0.008696665056049824, + 0.02067422680556774, + 0.9997484683990479, + -0.004998583249929968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.000709950749296695, + 0.009997879154980183, + -0.02015222374997709 + ], + [ + 0.000913787807803601, + 0.9997915029525757, + -0.020398246124386787, + 0.011588967515980703 + ], + [ + -0.009981312789022923, + 0.02040635608136654, + 0.9997419714927673, + -0.005465470576334907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0013528461568057537, + 0.011150604113936424, + -0.02104871406665315 + ], + [ + 0.0015737633220851421, + 0.9998021721839905, + -0.019827229902148247, + 0.0118545098587081 + ], + [ + -0.01112157478928566, + 0.019843528047204018, + 0.99974125623703, + -0.005707452468493062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.0016329752979800105, + 0.012118174694478512, + -0.021918212670994842 + ], + [ + 0.0018681212095543742, + 0.9998096823692322, + -0.019418517127633095, + 0.012161890451629322 + ], + [ + -0.012084159068763256, + 0.019439702853560448, + 0.9997379779815674, + -0.0056104527168866734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0021301365923136473, + 0.01295301504433155, + -0.023011370420293963 + ], + [ + 0.0023827843833714724, + 0.9998065829277039, + -0.019520897418260574, + 0.01260564002858819 + ], + [ + -0.012908928096294403, + 0.019550081342458725, + 0.9997255206108093, + -0.005658595551453207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.002467246726155281, + 0.013769915327429771, + -0.024121700539051192 + ], + [ + 0.002741764299571514, + 0.9997971653938293, + -0.01995289884507656, + 0.01338145036412322 + ], + [ + -0.0137178935110569, + 0.01998869888484478, + 0.9997060894966125, + -0.005761508084833622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353088, + -0.002840029774233699, + 0.014727404341101646, + -0.02523528760623025 + ], + [ + 0.0031446802895516157, + 0.9997807145118713, + -0.020704224705696106, + 0.014536457942702564 + ], + [ + -0.014665374532341957, + 0.020748209208250046, + 0.9996771812438965, + -0.005673679615289945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999869704246521, + -0.0029583810828626156, + 0.01586814410984516, + -0.02636624532549278 + ], + [ + 0.0032985173165798187, + 0.9997644424438477, + -0.021452007815241814, + 0.01566359261860666 + ], + [ + -0.015800943598151207, + 0.021501554176211357, + 0.9996439218521118, + -0.005791673762723803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0031880491878837347, + 0.01670588180422783, + -0.027079950329726158 + ], + [ + 0.0035494978073984385, + 0.9997592568397522, + -0.021651223301887512, + 0.016144804196538524 + ], + [ + -0.016632836312055588, + 0.021707389503717422, + 0.9996259808540344, + -0.005794057328982845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358826, + -0.0034013534896075726, + 0.017632387578487396, + -0.027939176259805326 + ], + [ + 0.0037892842665314674, + 0.9997504949569702, + -0.02201450802385807, + 0.01674003409748168 + ], + [ + -0.017553109675645828, + 0.02207777090370655, + 0.9996021389961243, + -0.0057193198322278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703186, + -0.0038147722370922565, + 0.018518278375267982, + -0.02915114906171094 + ], + [ + 0.004231736529618502, + 0.9997372031211853, + -0.022529657930135727, + 0.01743990393309935 + ], + [ + -0.018427466973662376, + 0.022603996098041534, + 0.9995746612548828, + -0.006013072999801649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.004257365129888058, + 0.019327698275446892, + -0.03049734854341849 + ], + [ + 0.004697722382843494, + 0.9997290968894958, + -0.022795794531702995, + 0.017673093381175852 + ], + [ + -0.019225412979722023, + 0.02288212440907955, + 0.9995533227920532, + -0.005590001111040297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.004344628192484379, + 0.019853176549077034, + -0.031640913224090704 + ], + [ + 0.004809228703379631, + 0.9997142553329468, + -0.02341434173285961, + 0.018275881565742842 + ], + [ + -0.019745776429772377, + 0.023504985496401787, + 0.999528706073761, + -0.005201178717264987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872742, + -0.004273205995559692, + 0.019879784435033798, + -0.03238517989444992 + ], + [ + 0.004749181680381298, + 0.9997016787528992, + -0.023957451805472374, + 0.018829995381605368 + ], + [ + -0.019771479070186615, + 0.02404691092669964, + 0.9995152950286865, + -0.00498417011745598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.004034793470054865, + 0.019967637956142426, + -0.033147217956898005 + ], + [ + 0.00453932723030448, + 0.9996699094772339, + -0.025287102907896042, + 0.020282655121485256 + ], + [ + -0.01985901966691017, + 0.025372494012117386, + 0.9994807839393616, + -0.004518116065098539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.003648292040452361, + 0.020054861903190613, + -0.03393905018658742 + ], + [ + 0.004184782970696688, + 0.999632716178894, + -0.026774615049362183, + 0.0219660380829895 + ], + [ + -0.019949816167354584, + 0.02685297653079033, + 0.9994403123855591, + -0.004115819918882588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.00383543292991817, + 0.020006857812404633, + -0.03468526408238255 + ], + [ + 0.00437692366540432, + 0.9996233582496643, + -0.02709207870066166, + 0.02229075914390547 + ], + [ + -0.019895412027835846, + 0.027174023911356926, + 0.9994326829910278, + -0.0038681610689862917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.004099968355149031, + 0.02002454176545143, + -0.035473800029443656 + ], + [ + 0.004638054873794317, + 0.999627411365509, + -0.026899252086877823, + 0.022007723605138776 + ], + [ + -0.019906792789697647, + 0.026986505836248398, + 0.9994375705718994, + -0.003638036577435939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943787, + -0.004152627661824226, + 0.01996457204222679, + -0.036213682235583015 + ], + [ + 0.004697425290942192, + 0.9996157288551331, + -0.02731921523809433, + 0.022412629479177944 + ], + [ + -0.019843455404043198, + 0.027407318353652954, + 0.9994273781776428, + -0.003467690715890216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.003944906406104565, + 0.02015707828104496, + -0.03737484682351351 + ], + [ + 0.0045133475214242935, + 0.9995911717414856, + -0.02823333442211151, + 0.02301627187989652 + ], + [ + -0.020037459209561348, + 0.02831835299730301, + 0.9993981122970581, + -0.002900036796927452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107727, + -0.0032675720285624266, + 0.020181545987725258, + -0.03838177002642466 + ], + [ + 0.0038687323685735464, + 0.9995477795600891, + -0.02982078120112419, + 0.024191483749841015 + ], + [ + -0.020074976608157158, + 0.029892627149820328, + 0.9993515014648438, + -0.0022023295426903213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.002861427143216133, + 0.021231308579444885, + -0.04074726668388948 + ], + [ + 0.003516518510878086, + 0.9995168447494507, + -0.03088207170367241, + 0.02470517718111691 + ], + [ + -0.021132685244083405, + 0.03094964474439621, + 0.9992974996566772, + -0.0019750170105987267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862, + -0.002301783300936222, + 0.021792083978652954, + -0.04215106070041656 + ], + [ + 0.003009514417499304, + 0.9994671940803528, + -0.032499637454748154, + 0.025799709658958423 + ], + [ + -0.021705664694309235, + 0.0325574167072773, + 0.999234139919281, + -0.0014989952374573636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.0019446497317403555, + 0.021882113069295883, + -0.042913940937622734 + ], + [ + 0.002689081011340022, + 0.9994167685508728, + -0.03404226154088974, + 0.026883844864483843 + ], + [ + -0.021803151816129684, + 0.03409288823604584, + 0.999180793762207, + -0.0008850623549812514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -0.001641829265281558, + 0.021979989483952522, + -0.04368286749914937 + ], + [ + 0.002427538624033332, + 0.9993571639060974, + -0.03576776385307312, + 0.028171395175741056 + ], + [ + -0.021907133981585503, + 0.03581243008375168, + 0.9991183876991272, + -0.00045248735696077345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + -0.0011024021077901125, + 0.022024111822247505, + -0.04414105988715006 + ], + [ + 0.001948375254869461, + 0.9992595314979553, + -0.03842678666114807, + 0.030369897178657675 + ], + [ + -0.02196544222533703, + 0.03846035152673721, + 0.999018669128418, + 0.0002399196676181062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + -0.0002417459909338504, + 0.021403763443231583, + -0.04362959008987831 + ], + [ + 0.0011531555792316794, + 0.9990924000740051, + -0.04257965460419655, + 0.0340469579258554 + ], + [ + -0.021374043077230453, + 0.04259457811713219, + 0.9988637566566467, + 0.0012111713026609757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + 0.0002510111080482602, + 0.021014317870140076, + -0.04344503428463055 + ], + [ + 0.0007272117072716355, + 0.9989166259765625, + -0.04652971401810646, + 0.03706020872404738 + ], + [ + -0.021003231406211853, + 0.04653472080826759, + 0.9986958503723145, + 0.0019872741146094125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + 0.001443485263735056, + 0.020757440477609634, + -0.04329334150837816 + ], + [ + -0.0003878616844303906, + 0.9987103343009949, + -0.05076955258846283, + 0.04010664730484005 + ], + [ + -0.02080395445227623, + 0.05075050890445709, + 0.9984946846961975, + 0.0032609943098024182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.0023793992586433887, + 0.02051977999508381, + -0.0432290451358194 + ], + [ + -0.0012360119726508856, + 0.9984548687934875, + -0.055554915219545364, + 0.043762624038018935 + ], + [ + -0.020620262250304222, + 0.05551769956946373, + 0.9982447624206543, + 0.004173439081110384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.004298734944313765, + 0.020192652940750122, + -0.04268076040012681 + ], + [ + -0.003020811825990677, + 0.9980155229568481, + -0.06289596855640411, + 0.05064522122923771 + ], + [ + -0.020422954112291336, + 0.06282156705856323, + 0.9978157877922058, + 0.006241114496293923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.005073931999504566, + 0.018658915534615517, + -0.04078652161456969 + ], + [ + -0.0037986915558576584, + 0.9976946711540222, + -0.06775601953268051, + 0.054857640816708624 + ], + [ + -0.018959691748023033, + 0.06767246872186661, + 0.9975274205207825, + 0.007170907410023653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.004383104387670755, + 0.021516947075724602, + -0.04558865536490213 + ], + [ + -0.002972166985273361, + 0.9978695511817932, + -0.06517262756824493, + 0.05053440389304381 + ], + [ + -0.021756766363978386, + 0.06509296596050262, + 0.9976419806480408, + 0.006097498678845232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.006276203319430351, + 0.0191669762134552, + -0.04285008326658736 + ], + [ + -0.00483538955450058, + 0.9972231984138489, + -0.07431375235319138, + 0.06008721798982309 + ], + [ + -0.019580163061618805, + 0.07420595735311508, + 0.9970507025718689, + 0.00923022397024476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.013463468290865421, + 0.01185617595911026, + -0.03344251595908249 + ], + [ + -0.012277067638933659, + 0.995400607585907, + -0.09500975161790848, + 0.08186132577298533 + ], + [ + -0.013080805540084839, + 0.09484890848398209, + 0.9954057335853577, + 0.01834622938995776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605164, + 0.007106535602360964, + 0.02068468928337097, + -0.04642627472462862 + ], + [ + -0.0055058724246919155, + 0.997059166431427, + -0.07643726468086243, + 0.05987474772846326 + ], + [ + -0.02116706222295761, + 0.076305091381073, + 0.9968597888946533, + 0.009165451335518257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.00595441646873951, + 0.022774621844291687, + -0.050095428704567575 + ], + [ + -0.004311687313020229, + 0.9974305033683777, + -0.07151050120592117, + 0.05126858392133094 + ], + [ + -0.023141905665397644, + 0.0713924840092659, + 0.9971798062324524, + 0.007877265293475079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.005955101922154427, + 0.02482219971716404, + -0.053947208157700044 + ], + [ + -0.004120660945773125, + 0.9973006844520569, + -0.07330973446369171, + 0.050831050199011095 + ], + [ + -0.025191763415932655, + 0.0731835663318634, + 0.9970002770423889, + 0.007486110958068267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.006376426201313734, + 0.02538127824664116, + -0.056039033538621406 + ], + [ + -0.0044679357670247555, + 0.9972071647644043, + -0.07455149292945862, + 0.049353936412523544 + ], + [ + -0.025785762816667557, + 0.07441255450248718, + 0.996894121170044, + 0.007810145403946872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515503, + 0.006418973207473755, + 0.02483879216015339, + -0.05673717315430227 + ], + [ + -0.004500090144574642, + 0.9970554113388062, + -0.07655216753482819, + 0.048284671648972384 + ], + [ + -0.025257037952542305, + 0.07641519606113434, + 0.9967561364173889, + 0.008182372466620545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469055, + 0.006868094205856323, + 0.024720177054405212, + -0.057733869860353684 + ], + [ + -0.004879595711827278, + 0.9968133568763733, + -0.07961994409561157, + 0.04746921681495302 + ], + [ + -0.02518824115395546, + 0.0794731080532074, + 0.9965187311172485, + 0.008744767014666095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.0070471568033099174, + 0.025016335770487785, + -0.059215697808110195 + ], + [ + -0.00497843511402607, + 0.9966351389884949, + -0.08181419223546982, + 0.04480543833468919 + ], + [ + -0.025508718565106392, + 0.08166200667619705, + 0.9963335990905762, + 0.008426996810442728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.007975968532264233, + 0.025857478380203247, + -0.06122740656137467 + ], + [ + -0.005721102003008127, + 0.9962671995162964, + -0.08613325655460358, + 0.04365227184607647 + ], + [ + -0.026447951793670654, + 0.08595378696918488, + 0.9959480166435242, + 0.008514734171330928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.008404552936553955, + 0.025899531319737434, + -0.062014377635458244 + ], + [ + -0.006032766308635473, + 0.9958935976028442, + -0.09033027291297913, + 0.041304267672113266 + ], + [ + -0.026552362367510796, + 0.09014053642749786, + 0.9955750107765198, + 0.009438160898001945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.009213109500706196, + 0.026887476444244385, + -0.06413741443792115 + ], + [ + -0.006625215522944927, + 0.9954745173454285, + -0.09479790925979614, + 0.038478697438056216 + ], + [ + -0.027639180421829224, + 0.0945814698934555, + 0.9951333403587341, + 0.009144297225967697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.009413432329893112, + 0.02715360000729561, + -0.06517558850995872 + ], + [ + -0.006644922774285078, + 0.9949347972869873, + -0.10030249506235123, + 0.036049404155220025 + ], + [ + -0.02796025201678276, + 0.10008063167333603, + 0.9945864081382751, + 0.009541091986972353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278503, + 0.010448411107063293, + 0.028303269296884537, + -0.06739618668089742 + ], + [ + -0.007394106592983007, + 0.9943445324897766, + -0.1059446632862091, + 0.03323990622327825 + ], + [ + -0.02925015613436699, + 0.10568715631961823, + 0.9939691424369812, + 0.009680577729950133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999527096748352, + 0.010755124501883984, + 0.028808332979679108, + -0.06893172270577888 + ], + [ + -0.007457084022462368, + 0.9936536550521851, + -0.11223530024290085, + 0.030886955529896787 + ], + [ + -0.029832608997821808, + 0.11196739226579666, + 0.9932639598846436, + 0.009630907691367294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.01173768937587738, + 0.02939232997596264, + -0.06986035066454307 + ], + [ + -0.00817660242319107, + 0.9929239153862, + -0.11847055703401566, + 0.02814354794099927 + ], + [ + -0.030574915930628777, + 0.11817087978124619, + 0.9925224781036377, + 0.010460340099044792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.01284224446862936, + 0.030594753101468086, + -0.07173997845662677 + ], + [ + -0.008924922905862331, + 0.9921296834945679, + -0.12489606440067291, + 0.02509106897506053 + ], + [ + -0.03195790946483612, + 0.12455423176288605, + 0.9916980266571045, + 0.010761559811299263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.013437540270388126, + 0.03142225742340088, + -0.07309018648836924 + ], + [ + -0.009216981939971447, + 0.9913663864135742, + -0.13079671561717987, + 0.02134987121883213 + ], + [ + -0.03290855139493942, + 0.1304306834936142, + 0.9909111261367798, + 0.011040355066728333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394226, + 0.014365378767251968, + 0.032401151955127716, + -0.07449634583747905 + ], + [ + -0.009735409170389175, + 0.9902763962745667, + -0.13877291977405548, + 0.02015760140493512 + ], + [ + -0.034079618752002716, + 0.13837029039859772, + 0.9897940158843994, + 0.01173521558875623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.014735107310116291, + 0.03306347131729126, + -0.07539799757625745 + ], + [ + -0.009789164178073406, + 0.9893760681152344, + -0.14504872262477875, + 0.017285107637492372 + ], + [ + -0.03484951704740524, + 0.14462999999523163, + 0.9888719320297241, + 0.012297678848161646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.015337885357439518, + 0.03431614488363266, + -0.07659924451423727 + ], + [ + -0.009993080981075764, + 0.9885103702545166, + -0.15082229673862457, + 0.014844145868783411 + ], + [ + -0.03623516112565994, + 0.15037278831005096, + 0.9879651069641113, + 0.012335101830894533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.015444952994585037, + 0.03600665554404259, + -0.07794309112688769 + ], + [ + -0.00962134450674057, + 0.9876108169555664, + -0.15662787854671478, + 0.013106727547457685 + ], + [ + -0.037979673594236374, + 0.15616117417812347, + 0.9870011210441589, + 0.01272139190291257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067444, + 0.015571298077702522, + 0.03744126856327057, + -0.07857215466058773 + ], + [ + -0.009332213550806046, + 0.9868494272232056, + -0.16137243807315826, + 0.010564352171090634 + ], + [ + -0.03946167230606079, + 0.16089029610157013, + 0.9861831068992615, + 0.012923777759399104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.015573395416140556, + 0.03915471211075783, + -0.07922800604415978 + ], + [ + -0.008849537000060081, + 0.9860241413116455, + -0.16636738181114197, + 0.007919782445685046 + ], + [ + -0.04119839891791344, + 0.16587311029434204, + 0.9852861762046814, + 0.013298711077431621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.01579897478222847, + 0.04070235416293144, + -0.07953004872669345 + ], + [ + -0.008583861403167248, + 0.9851139187812805, + -0.1716882288455963, + 0.005038112667186753 + ], + [ + -0.042808953672647476, + 0.17117512226104736, + 0.9843101501464844, + 0.013924753341985785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.016361400485038757, + 0.04317878186702728, + -0.08094830892008284 + ], + [ + -0.008463001810014248, + 0.9841516017913818, + -0.1771269291639328, + 0.0016088150821261756 + ], + [ + -0.045392513275146484, + 0.17657257616519928, + 0.9832403659820557, + 0.014363977774653746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.016970030963420868, + 0.045455485582351685, + -0.08190758804912152 + ], + [ + -0.008352922275662422, + 0.982995331287384, + -0.18344049155712128, + -0.0006208258022999634 + ], + [ + -0.04779551923274994, + 0.18284474313259125, + 0.9819793105125427, + 0.015272763946458049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.01748301088809967, + 0.047148268669843674, + -0.08259369601374088 + ], + [ + -0.008270947262644768, + 0.981958270072937, + -0.1889168918132782, + -0.003739891273131513 + ], + [ + -0.049600470811128616, + 0.18828794360160828, + 0.9808605909347534, + 0.015540999269274915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865723, + 0.01858258619904518, + 0.049399469047784805, + -0.08412691808265188 + ], + [ + -0.008579387329518795, + 0.9806725978851318, + -0.1954677402973175, + -0.005244121271307054 + ], + [ + -0.052076999098062515, + 0.19477149844169617, + 0.9794651865959167, + 0.01605304829452349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.01906079612672329, + 0.05056662857532501, + -0.08418430319946746 + ], + [ + -0.008519092574715614, + 0.979552149772644, + -0.20101001858711243, + -0.008168660836172816 + ], + [ + -0.05336406081914902, + 0.20028552412986755, + 0.978283166885376, + 0.015871141620142304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.020068388432264328, + 0.05223670229315758, + -0.08458764527155005 + ], + [ + -0.00883301068097353, + 0.9782982468605042, + -0.20701347291469574, + -0.010654675263061148 + ], + [ + -0.05525750294327736, + 0.20622767508029938, + 0.9769425392150879, + 0.016429565826673872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.02098757028579712, + 0.05362417548894882, + -0.0844548905349296 + ], + [ + -0.009101630188524723, + 0.9770225882530212, + -0.21294136345386505, + -0.012916921875338353 + ], + [ + -0.05686115473508835, + 0.21209995448589325, + 0.9755923748016357, + 0.016407077544895204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302429, + 0.0217584315687418, + 0.055909838527441025, + -0.085286695510149 + ], + [ + -0.009053947404026985, + 0.9758765697479248, + -0.21813525259494781, + -0.01649875184521079 + ], + [ + -0.05930737778544426, + 0.21723611652851105, + 0.9743157029151917, + 0.016569523699581624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.02219223976135254, + 0.057744357734918594, + -0.08566836944740752 + ], + [ + -0.008665273897349834, + 0.9743892550468445, + -0.22470079362392426, + -0.018187925203845066 + ], + [ + -0.06125209853053093, + 0.22377006709575653, + 0.9727153778076172, + 0.016979248252818765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.02254362963140011, + 0.059229522943496704, + -0.08571833725208822 + ], + [ + -0.0082728061825037, + 0.9729372262954712, + -0.23092132806777954, + -0.019416855480116995 + ], + [ + -0.06283241510391235, + 0.2299671471118927, + 0.9711679816246033, + 0.016825446842805198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.021929867565631866, + 0.060454998165369034, + -0.08548340622497641 + ], + [ + -0.00716259004548192, + 0.9721141457557678, + -0.23439866304397583, + -0.023860344730327717 + ], + [ + -0.06390949338674545, + 0.23348045349121094, + 0.9702589511871338, + 0.01656774429442442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.022857923060655594, + 0.06275815516710281, + -0.08680447505220124 + ], + [ + -0.007085306569933891, + 0.9705377221107483, + -0.24084506928920746, + -0.022885527299798054 + ], + [ + -0.06641437858343124, + 0.2398626059293747, + 0.9685324430465698, + 0.016681004931097445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990967, + 0.022836510092020035, + 0.06369549036026001, + -0.08666112850541655 + ], + [ + -0.006593511439859867, + 0.9696597456932068, + -0.24436970055103302, + -0.025223228294382116 + ], + [ + -0.06734350323677063, + 0.24338965117931366, + 0.9675878882408142, + 0.016856960118140862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731384, + 0.022658245638012886, + 0.06370363384485245, + -0.08580965658892756 + ], + [ + -0.006218820810317993, + 0.968935489654541, + -0.24723535776138306, + -0.027688122767469157 + ], + [ + -0.0673266276717186, + 0.24627342820167542, + 0.9668591022491455, + 0.016464803999532825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430481, + 0.022214021533727646, + 0.06285545229911804, + -0.08452947776278724 + ], + [ + -0.005891245789825916, + 0.9685425162315369, + -0.24877847731113434, + -0.032279289396904894 + ], + [ + -0.0664045512676239, + 0.24785475432872772, + 0.966518759727478, + 0.015769001388031504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.02297596074640751, + 0.06270275264978409, + -0.08485807996729146 + ], + [ + -0.006352042779326439, + 0.967345118522644, + -0.25338318943977356, + -0.03331066216544613 + ], + [ + -0.06647691875696182, + 0.25241926312446594, + 0.9653317332267761, + 0.01603539296142433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001587, + 0.024106651544570923, + 0.062348201870918274, + -0.08523850029577379 + ], + [ + -0.007149352692067623, + 0.9658434987068176, + -0.2590274214744568, + -0.03375450117847599 + ], + [ + -0.06646288931369781, + 0.25800228118896484, + 0.9638555645942688, + 0.015770076927931413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.025127019733190536, + 0.061808183789253235, + -0.08538725889571336 + ], + [ + -0.00790814682841301, + 0.964383065700531, + -0.26439133286476135, + -0.03454711491889928 + ], + [ + -0.06625013053417206, + 0.2633133828639984, + 0.962432861328125, + 0.01532083747341581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.026491761207580566, + 0.061391349881887436, + -0.08559815109423968 + ], + [ + -0.008958176709711552, + 0.9628472924232483, + -0.26989778876304626, + -0.03503446470915704 + ], + [ + -0.06626056134700775, + 0.2687438428401947, + 0.9609299302101135, + 0.014360689136969007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.997768759727478, + 0.027361121028661728, + 0.06090030074119568, + -0.08577089183356451 + ], + [ + -0.009600468911230564, + 0.9614867568016052, + -0.27468350529670715, + -0.035697603497006326 + ], + [ + -0.06607048213481903, + 0.27348592877388, + 0.9596041440963745, + 0.013154250002749588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.02765067294239998, + 0.06033976748585701, + -0.0859834074812091 + ], + [ + -0.00972452387213707, + 0.960184633731842, + -0.2791968286037445, + -0.035978829700742725 + ], + [ + -0.06565729528665543, + 0.2779943645000458, + 0.9583361744880676, + 0.01240001790954367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621277, + 0.02779082953929901, + 0.059224676340818405, + -0.08607198022629903 + ], + [ + -0.009968835860490799, + 0.9593074321746826, + -0.28218764066696167, + -0.036760865763315685 + ], + [ + -0.06465689837932587, + 0.2809927463531494, + 0.9575294256210327, + 0.01090638301861675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.02732110023498535, + 0.05665348842740059, + -0.08388306650778522 + ], + [ + -0.010183447040617466, + 0.9590361714363098, + -0.28310060501098633, + -0.03890625878854695 + ], + [ + -0.062067363411188126, + 0.28196316957473755, + 0.9574154615402222, + 0.009070777631891163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518921, + 0.02725362963974476, + 0.055557575076818466, + -0.08353774568632892 + ], + [ + -0.010300735011696815, + 0.9584397077560425, + -0.28510910272598267, + -0.038886497465326735 + ], + [ + -0.061018843203783035, + 0.28399038314819336, + 0.9568835496902466, + 0.007540874786513007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.026886502280831337, + 0.05255064740777016, + -0.07998896144006563 + ], + [ + -0.010742219164967537, + 0.9581257700920105, + -0.2861461639404297, + -0.03944134893928371 + ], + [ + -0.058043595403432846, + 0.28508269786834717, + 0.9567438364028931, + 0.0066976489964872595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.02632264979183674, + 0.05048767477273941, + -0.07799219963667187 + ], + [ + -0.01075446791946888, + 0.9579384326934814, + -0.2867721617221832, + -0.03989466932683211 + ], + [ + -0.05591268837451935, + 0.2857639491558075, + 0.9566675424575806, + 0.005374074225192485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.025764308869838715, + 0.04729223623871803, + -0.07440732157910648 + ], + [ + -0.011069864965975285, + 0.957582414150238, + -0.28794682025909424, + -0.0390765605985349 + ], + [ + -0.05270496383309364, + 0.2870054244995117, + 0.95647794008255, + 0.0048109984005113016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.024666791781783104, + 0.0440717376768589, + -0.07084031232997129 + ], + [ + -0.010880136862397194, + 0.9572102427482605, + -0.28918883204460144, + -0.03806877309537452 + ], + [ + -0.049319278448820114, + 0.2883402407169342, + 0.9562570452690125, + 0.0044100912429554315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.02333184704184532, + 0.039388496428728104, + -0.06502723737984248 + ], + [ + -0.010894689708948135, + 0.9568221569061279, + -0.2904696464538574, + -0.037382618578798744 + ], + [ + -0.04446497932076454, + 0.28973597288131714, + 0.9560731649398804, + 0.004563198027039028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.999022901058197, + 0.021438565105199814, + 0.0386476069688797, + -0.06537313419596658 + ], + [ + -0.009327387437224388, + 0.9570468068122864, + -0.28978341817855835, + -0.03893039438104176 + ], + [ + -0.043200112879276276, + 0.2891398072242737, + 0.9563116431236267, + 0.002519589848563318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.02055411785840988, + 0.03429413214325905, + -0.06016624276526272 + ], + [ + -0.009684556163847446, + 0.9566200971603394, + -0.29117727279663086, + -0.03751530166482553 + ], + [ + -0.03879134729504585, + 0.2906123399734497, + 0.9560542702674866, + 0.0024250853166449815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.01957114413380623, + 0.033238962292671204, + -0.05969918942402887 + ], + [ + -0.009049003012478352, + 0.956614077091217, + -0.2912174165248871, + -0.03785810162637221 + ], + [ + -0.03749631345272064, + 0.29069992899894714, + 0.9560793042182922, + 0.0011233019632408804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9991267323493958, + 0.018968984484672546, + 0.03722758963704109, + -0.06661452793354249 + ], + [ + -0.00731707364320755, + 0.9566694498062134, + -0.29108425974845886, + -0.038388941125215396 + ], + [ + -0.04113606736063957, + 0.2905576527118683, + 0.9559728503227234, + -0.001589171967023741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.01813526451587677, + 0.029316460713744164, + -0.05628008578053635 + ], + [ + -0.008797070011496544, + 0.9564486145973206, + -0.2917681038379669, + -0.03846381781015383 + ], + [ + -0.03333098068833351, + 0.2913368046283722, + 0.9560397267341614, + -0.0019887162696408185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199951, + 0.01770026423037052, + 0.02899668738245964, + -0.05644696393738623 + ], + [ + -0.008438151329755783, + 0.9561333060264587, + -0.2928103804588318, + -0.038426548928913215 + ], + [ + -0.03290751948952675, + 0.2923966646194458, + 0.9557307362556458, + -0.002152085597829326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492126, + 0.01685449667274952, + 0.028420694172382355, + -0.05702406212525524 + ], + [ + -0.007757614832371473, + 0.9557737112045288, + -0.2940008342266083, + -0.03831136999044405 + ], + [ + -0.032118987292051315, + 0.293619841337204, + 0.9553825259208679, + -0.004011111536427685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.016039585694670677, + 0.027598802000284195, + -0.05694160674415205 + ], + [ + -0.007185886148363352, + 0.9554562568664551, + -0.2950453460216522, + -0.03860032481176819 + ], + [ + -0.031101852655410767, + 0.2946966588497162, + 0.9550845623016357, + -0.005185133858543375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9995346069335938, + 0.015247568488121033, + 0.026421522721648216, + -0.05631311358479053 + ], + [ + -0.006741792429238558, + 0.9551193118095398, + -0.29614463448524475, + -0.03888729448055687 + ], + [ + -0.029751190915703773, + 0.2958286702632904, + 0.9547775983810425, + -0.006378798848827897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.015149546787142754, + 0.02469441294670105, + -0.05439693965017796 + ], + [ + -0.007122847717255354, + 0.9547296166419983, + -0.2973896563053131, + -0.038786706677384916 + ], + [ + -0.028081808239221573, + 0.29708895087242126, + 0.9544367790222168, + -0.006974993680563309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.01469515636563301, + 0.023525867611169815, + -0.053124574984869236 + ], + [ + -0.007002733647823334, + 0.9543582201004028, + -0.29858213663101196, + -0.03876305758629156 + ], + [ + -0.026839815080165863, + 0.2983025312423706, + 0.9540939331054688, + -0.008176348957678546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.014255501329898834, + 0.022258255630731583, + -0.05181338864824048 + ], + [ + -0.006950950715690851, + 0.9542365074157715, + -0.29897212982177734, + -0.03925500339803124 + ], + [ + -0.025501638650894165, + 0.29871296882629395, + 0.9540022015571594, + -0.009456234822130722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.999679446220398, + 0.013773739337921143, + 0.021242758259177208, + -0.050657640267973356 + ], + [ + -0.006781786680221558, + 0.9540805220603943, + -0.29947352409362793, + -0.03906267972096153 + ], + [ + -0.02439217083156109, + 0.29923349618911743, + 0.9538680911064148, + -0.010208208233361011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.013498718850314617, + 0.020003944635391235, + -0.049205836556527924 + ], + [ + -0.006886289454996586, + 0.9540290236473083, + -0.2996351718902588, + -0.039178809677959295 + ], + [ + -0.023129034787416458, + 0.2994101643562317, + 0.9538441300392151, + -0.011118448236147346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.013105448335409164, + 0.019050858914852142, + -0.04840043462488962 + ], + [ + -0.006793595850467682, + 0.9539903402328491, + -0.2997603416442871, + -0.039453889980264334 + ], + [ + -0.022102829068899155, + 0.29955077171325684, + 0.9538242816925049, + -0.011795145775312963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.012848930433392525, + 0.017874201759696007, + -0.048039668490705276 + ], + [ + -0.006899069529026747, + 0.9539555907249451, + -0.2998685836791992, + -0.03990068979303191 + ], + [ + -0.020904185250401497, + 0.29967260360717773, + 0.9538130760192871, + -0.012257697424122497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012085, + 0.01229442935436964, + 0.016187604516744614, + -0.047247199098701065 + ], + [ + -0.006877788342535496, + 0.9539898633956909, + -0.2997598946094513, + -0.04073294241527986 + ], + [ + -0.019128188490867615, + 0.29958662390708923, + 0.953877329826355, + -0.012922620076848112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.011615701019763947, + 0.014489619061350822, + -0.046606771097235045 + ], + [ + -0.006735567003488541, + 0.9539309144020081, + -0.29995065927505493, + -0.04153268647623127 + ], + [ + -0.017306232824921608, + 0.2998013496398926, + 0.9538446664810181, + -0.01338099414664928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.01100757997483015, + 0.012793038040399551, + -0.04614244228147943 + ], + [ + -0.006657890044152737, + 0.9538103938102722, + -0.30033543705940247, + -0.04245709568140623 + ], + [ + -0.015508098527789116, + 0.3002074658870697, + 0.9537478685379028, + -0.01372496872411474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.010259771719574928, + 0.011384222656488419, + -0.04610325089939263 + ], + [ + -0.006358100101351738, + 0.9536084532737732, + -0.3009825050830841, + -0.04336268609976801 + ], + [ + -0.013944102451205254, + 0.300874799489975, + 0.9535617232322693, + -0.013645314916198992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634399, + 0.009562669321894646, + 0.009711958467960358, + -0.04564369079535423 + ], + [ + -0.006183892488479614, + 0.9532966613769531, + -0.30197229981422424, + -0.04361784995897956 + ], + [ + -0.012146038934588432, + 0.3018842041492462, + 0.9532672166824341, + -0.01352356308463799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.009050115942955017, + 0.007406006567180157, + -0.044001209428128976 + ], + [ + -0.006386688444763422, + 0.9531480669975281, + -0.3024367690086365, + -0.044023007965575824 + ], + [ + -0.00979610811918974, + 0.30236876010894775, + 0.9531406760215759, + -0.013384650357614231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.008848156780004501, + 0.005254167132079601, + -0.04231406142530235 + ], + [ + -0.006839944049715996, + 0.9529503583908081, + -0.30304932594299316, + -0.043632728906105395 + ], + [ + -0.007688388228416443, + 0.302997350692749, + 0.9529603719711304, + -0.013263728842139244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.008388788439333439, + 0.0042376890778541565, + -0.04206477704903354 + ], + [ + -0.006710602901875973, + 0.9529709815979004, + -0.3029872477054596, + -0.04376534641082601 + ], + [ + -0.0065800901502370834, + 0.30294540524482727, + 0.9529851675033569, + -0.013097724874260957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.007891487330198288, + 0.0028796824626624584, + -0.04125227332115175 + ], + [ + -0.006649356335401535, + 0.9530461430549622, + -0.30275216698646545, + -0.04361464744433761 + ], + [ + -0.005133634898811579, + 0.30272236466407776, + 0.9530649781227112, + -0.01250852841185406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.007440454326570034, + 0.0017033653566613793, + -0.04071006544906161 + ], + [ + -0.006577573716640472, + 0.953201174736023, + -0.3022651970386505, + -0.04355005307285034 + ], + [ + -0.0038726404309272766, + 0.302245169878006, + 0.9532223343849182, + -0.011708741914480925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.007206707261502743, + 0.00023568153847008944, + -0.03980306195824043 + ], + [ + -0.006799705326557159, + 0.9533676505088806, + -0.3017348051071167, + -0.04323864671523157 + ], + [ + -0.002399205695837736, + 0.3017253875732422, + 0.9533918499946594, + -0.011065426560969132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.007215050049126148, + -0.0013026536908000708, + -0.0390141373095305 + ], + [ + -0.007272626273334026, + 0.9536243677139282, + -0.3009113669395447, + -0.042988008666155944 + ], + [ + -0.0009288478759117424, + 0.3009127378463745, + 0.9536512494087219, + -0.010483269753540693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.007200681138783693, + -0.0029490399174392223, + -0.038258128872384195 + ], + [ + -0.007753776852041483, + 0.9538871645927429, + -0.3000653386116028, + -0.04262128135280522 + ], + [ + 0.0006523765623569489, + 0.3000791072845459, + 0.9539141058921814, + -0.010162733580269243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.0073445760644972324, + -0.004333018325269222, + -0.03809282501106678 + ], + [ + -0.008303535170853138, + 0.9543184041976929, + -0.29867619276046753, + -0.04277954917735137 + ], + [ + 0.0019414287526160479, + 0.29870128631591797, + 0.9543446898460388, + -0.009843117696531725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.00758214620873332, + -0.005407380871474743, + -0.03818024555626122 + ], + [ + -0.008846807293593884, + 0.9547628164291382, + -0.29723671078681946, + -0.04282587893793116 + ], + [ + 0.0029090745374560356, + 0.29727163910865784, + 0.9547885060310364, + -0.009302150701051172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.999944269657135, + 0.007875194773077965, + -0.007030118256807327, + -0.03739303771568382 + ], + [ + -0.00960238091647625, + 0.9552057981491089, + -0.2957865297794342, + -0.04272544151678195 + ], + [ + 0.004385833628475666, + 0.29583755135536194, + 0.9552282094955444, + -0.009066316868563223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.008488552644848824, + -0.008215175941586494, + -0.03718483901542166 + ], + [ + -0.010531414300203323, + 0.9556097388267517, + -0.2944472134113312, + -0.04253878555786998 + ], + [ + 0.005351071245968342, + 0.29451319575309753, + 0.9556324481964111, + -0.008334081940879316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301025, + 0.009077849797904491, + -0.009421899914741516, + -0.036709994563589934 + ], + [ + -0.011442153714597225, + 0.9559639096260071, + -0.29326117038726807, + -0.04245288847571077 + ], + [ + 0.006344815716147423, + 0.2933439016342163, + 0.9559859037399292, + -0.007687190091034964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.009452003985643387, + -0.010222547687590122, + -0.036924049096262984 + ], + [ + -0.012028098106384277, + 0.9562346339225769, + -0.29235365986824036, + -0.042244709088750505 + ], + [ + 0.007011826150119305, + 0.2924482524394989, + 0.9562556147575378, + -0.007211641604890642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.009715363383293152, + -0.010953372344374657, + -0.0374148927628994 + ], + [ + -0.012486658990383148, + 0.9564980268478394, + -0.2914715111255646, + -0.0422604867986039 + ], + [ + 0.007645128294825554, + 0.291577011346817, + 0.9565168023109436, + -0.006973780654168323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.009856334887444973, + -0.011652341112494469, + -0.03806285381965015 + ], + [ + -0.01281923707574606, + 0.9567082524299622, + -0.29076623916625977, + -0.04228914702695835 + ], + [ + 0.008282002061605453, + 0.2908817529678345, + 0.956723153591156, + -0.006600340342392092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.009932444430887699, + -0.01313873939216137, + -0.037699112911587174 + ], + [ + -0.013320253230631351, + 0.9568285942077637, + -0.29034748673439026, + -0.042050735243980814 + ], + [ + 0.00968766026198864, + 0.2904830873012543, + 0.9568310976028442, + -0.006402002802402105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.010340643115341663, + -0.013315418735146523, + -0.03893847711708236 + ], + [ + -0.013758896850049496, + 0.9569211006164551, + -0.2900218367576599, + -0.041577384049963695 + ], + [ + 0.009742794558405876, + 0.2901638150215149, + 0.9569274187088013, + -0.006148344731849173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.010536699555814266, + -0.014125842601060867, + -0.039379011612871426 + ], + [ + -0.01417627651244402, + 0.957065999507904, + -0.289523184299469, + -0.04118034038439636 + ], + [ + 0.010468745604157448, + 0.2896784543991089, + 0.9570667743682861, + -0.006193627729890463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9998363256454468, + 0.010891634970903397, + -0.01444687508046627, + -0.040252504141434386 + ], + [ + -0.01459907554090023, + 0.9573293328285217, + -0.2886301577091217, + -0.041264125382851645 + ], + [ + 0.010686762630939484, + 0.2887938320636749, + 0.957331657409668, + -0.005752841362972622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.011450154706835747, + -0.014529063366353512, + -0.04131593474227449 + ], + [ + -0.015150830149650574, + 0.9575045108795166, + -0.28802019357681274, + -0.04097756658397291 + ], + [ + 0.010613768361508846, + 0.288191020488739, + 0.9575141072273254, + -0.005565013070894486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.011858062818646431, + -0.014580335468053818, + -0.04239608292346417 + ], + [ + -0.015548942610621452, + 0.957697331905365, + -0.2873569428920746, + -0.0410685313096189 + ], + [ + 0.010556051507592201, + 0.28753289580345154, + 0.9577125906944275, + -0.005264243831777054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.012128437869250774, + -0.01464923843741417, + -0.043477889117987265 + ], + [ + -0.015820525586605072, + 0.9578892588615417, + -0.28670182824134827, + -0.04116347442259607 + ], + [ + 0.010555103421211243, + 0.2868817150592804, + 0.9579078555107117, + -0.005061182614577853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.012183948419988155, + -0.015137601643800735, + -0.04422254241679026 + ], + [ + -0.016006914898753166, + 0.9580661058425903, + -0.28609979152679443, + -0.04096369681596432 + ], + [ + 0.011016998440027237, + 0.2862880825996399, + 0.9580802321434021, + -0.0048990994367910465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.012012994848191738, + -0.015673071146011353, + -0.045005037765140116 + ], + [ + -0.015984533354640007, + 0.9583596587181091, + -0.2851162254810333, + -0.04126048301771769 + ], + [ + 0.011595341376960278, + 0.28531113266944885, + 0.9583648443222046, + -0.004699680689499592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.012110580690205097, + -0.01639024168252945, + -0.04666780032541441 + ], + [ + -0.016277389600872993, + 0.9584789872169495, + -0.2846982777118683, + -0.04106831437219744 + ], + [ + 0.012261840514838696, + 0.28490594029426575, + 0.9584770798683167, + -0.004243637667968869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.012454718351364136, + -0.01676257885992527, + -0.04750132113695145 + ], + [ + -0.016713786870241165, + 0.9584629535675049, + -0.2847267985343933, + -0.04014380970038474 + ], + [ + 0.012520119547843933, + 0.28494489192962646, + 0.958462119102478, + -0.0046286668162792925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.011867624707520008, + -0.016696546226739883, + -0.04814242432298868 + ], + [ + -0.016128212213516235, + 0.9585614800453186, + -0.2844289243221283, + -0.04007899751481803 + ], + [ + 0.012629170902073383, + 0.28463855385780334, + 0.9585517048835754, + -0.004260981322833053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.011898798868060112, + -0.016527118161320686, + -0.049175049980049554 + ], + [ + -0.016109328716993332, + 0.9585740566253662, + -0.28438764810562134, + -0.04028084909583887 + ], + [ + 0.012458594515919685, + 0.28459489345550537, + 0.9585669040679932, + -0.004265790603771482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.999800980091095, + 0.01179526373744011, + -0.016088683158159256, + -0.0504883237183094 + ], + [ + -0.015881424769759178, + 0.9586682319641113, + -0.2840828597545624, + -0.04108539857375233 + ], + [ + 0.012072877027094364, + 0.28428182005882263, + 0.9586647748947144, + -0.004432319163385293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692444, + 0.01237634476274252, + -0.016462460160255432, + -0.05117631088132445 + ], + [ + -0.016553102061152458, + 0.9584661722183228, + -0.284725546836853, + -0.040646390589561474 + ], + [ + 0.012254849076271057, + 0.28493767976760864, + 0.9584677219390869, + -0.00419601623940727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348206, + 0.012780892662703991, + -0.01641402579843998, + -0.05236683899293776 + ], + [ + -0.01693068817257881, + 0.9583755731582642, + -0.28500810265541077, + -0.040433646256671 + ], + [ + 0.012088143266737461, + 0.2852243483066559, + 0.9583845734596252, + -0.00408368179594855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.013170582242310047, + -0.01641548052430153, + -0.053517740705738906 + ], + [ + -0.017300555482506752, + 0.9584664106369019, + -0.2846803069114685, + -0.04049719882744324 + ], + [ + 0.011984280310571194, + 0.2849012613296509, + 0.9584819674491882, + -0.004023141886168362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.013317734003067017, + -0.015992529690265656, + -0.05518444792731948 + ], + [ + -0.017315302044153214, + 0.9586091041564941, + -0.28419846296310425, + -0.04034525397355142 + ], + [ + 0.011545705609023571, + 0.28441381454467773, + 0.9586321115493774, + -0.004087033699793012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.01368729118257761, + -0.015205700881779194, + -0.057357502858275955 + ], + [ + -0.01744253747165203, + 0.9586939811706543, + -0.2839042842388153, + -0.03990392208848473 + ], + [ + 0.010691733099520206, + 0.28411009907722473, + 0.9587320685386658, + -0.004079787136035283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421875, + 0.013676067814230919, + -0.014477606862783432, + -0.059140452224275344 + ], + [ + -0.01721770130097866, + 0.9589017629623413, + -0.2832152843475342, + -0.04020193232344868 + ], + [ + 0.01000933162868023, + 0.28340840339660645, + 0.9589470624923706, + -0.004046523072959289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.013848480768501759, + -0.01349636260420084, + -0.06151985066092533 + ], + [ + -0.017103176563978195, + 0.9589590430259705, + -0.283028244972229, + -0.03989620958454907 + ], + [ + 0.009022948332130909, + 0.28320616483688354, + 0.9590166211128235, + -0.004237918308227445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.999824583530426, + 0.013728667981922626, + -0.012739814817905426, + -0.06360100350626137 + ], + [ + -0.01677251234650612, + 0.9590147137641907, + -0.2828594148159027, + -0.03964667531621197 + ], + [ + 0.008334387093782425, + 0.28302350640296936, + 0.9590767621994019, + -0.0043508530007270365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.013748432509601116, + -0.012272721156477928, + -0.06486749287856662 + ], + [ + -0.016660628840327263, + 0.9589675068855286, + -0.2830260992050171, + -0.03936606365073796 + ], + [ + 0.007877975702285767, + 0.2831825017929077, + 0.9590336680412292, + -0.0040826786937111096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.013619882985949516, + -0.011728364042937756, + -0.06620357895027038 + ], + [ + -0.016384350135922432, + 0.9589269757270813, + -0.2831794321537018, + -0.039477381436154244 + ], + [ + 0.007389775477349758, + 0.28332582116127014, + 0.9589952230453491, + -0.004056750490006222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.013129913248121738, + -0.010828699916601181, + -0.06814089887168097 + ], + [ + -0.0156614538282156, + 0.9588568210601807, + -0.28345778584480286, + -0.039489401620812714 + ], + [ + 0.006661396473646164, + 0.2835863530635834, + 0.9589235782623291, + -0.004240785593814824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.012918918393552303, + -0.008521311916410923, + -0.07231043382831243 + ], + [ + -0.01480634231120348, + 0.9587716460227966, + -0.28379157185554504, + -0.03880513800389093 + ], + [ + 0.004503712058067322, + 0.2838837802410126, + 0.9588481187820435, + -0.004249160018061166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.012471792288124561, + -0.00764962425455451, + -0.07436162970312264 + ], + [ + -0.014129041694104671, + 0.9588639736175537, + -0.2835140824317932, + -0.0387474645339155 + ], + [ + 0.003799020778387785, + 0.2835918068885803, + 0.9589375853538513, + -0.004255690312002907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.012243223376572132, + -0.007329609245061874, + -0.07556761206816072 + ], + [ + -0.013818559236824512, + 0.9589112401008606, + -0.28336960077285767, + -0.03875265537214506 + ], + [ + 0.0035590874031186104, + 0.28344202041625977, + 0.9589827656745911, + -0.004184185576868122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.012170713394880295, + -0.007128079421818256, + -0.0765166751716448 + ], + [ + -0.013692483305931091, + 0.9588640332221985, + -0.2835354208946228, + -0.038761448495737885 + ], + [ + 0.0033840304240584373, + 0.28360480070114136, + 0.9589352607727051, + -0.0040359715045348785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.012092404067516327, + -0.00668905908241868, + -0.0778230476476576 + ], + [ + -0.013493748381733894, + 0.9587841629981995, + -0.28381478786468506, + -0.03875170014393718 + ], + [ + 0.002981360536068678, + 0.283877968788147, + 0.9588558077812195, + -0.0038772060019571495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.012219628319144249, + -0.006055587437003851, + -0.07939313460627329 + ], + [ + -0.013437382876873016, + 0.9586056470870972, + -0.28441986441612244, + -0.03856027533259729 + ], + [ + 0.0023294161073863506, + 0.28447476029396057, + 0.9586806893348694, + -0.003796295374986189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355713, + 0.012324619106948376, + -0.0058808960020542145, + -0.08042361486865127 + ], + [ + -0.0134885897859931, + 0.9585719108581543, + -0.28453120589256287, + -0.03909157624205008 + ], + [ + 0.0021305226255208254, + 0.28458401560783386, + 0.9586487412452698, + -0.003972675715846455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.012797458097338676, + -0.005433768033981323, + -0.08170604396449484 + ], + [ + -0.013815557584166527, + 0.9583991169929504, + -0.28509700298309326, + -0.03903715307115699 + ], + [ + 0.0015592018608003855, + 0.28514450788497925, + 0.9584832787513733, + -0.003824408766282115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.013290473259985447, + -0.005007470026612282, + -0.08291555345058442 + ], + [ + -0.01416697632521391, + 0.9582738876342773, + -0.2855004370212555, + -0.03880108566954732 + ], + [ + 0.0010040916968137026, + 0.2855425775051117, + 0.9583654999732971, + -0.00408270584885031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/move_right/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..233d7e246219cd404a7abad58199ac9eb08feb26 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/move_right/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.29400126147084e-05, + 0.00024093473621178418, + 0.0002997204061577339 + ], + [ + 7.308429485419765e-05, + 0.9999998211860657, + -0.0005989032797515392, + 0.0007017170067229017 + ], + [ + -0.00024089102225843817, + 0.0005989208584651351, + 0.9999998211860657, + -0.0002259117709400016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 7.64142896514386e-06, + 0.00039224125794135034, + 0.0006443167069886365 + ], + [ + -7.184681635408197e-06, + 0.9999993443489075, + -0.0011644421610981226, + 0.0013861883102742427 + ], + [ + -0.00039224987267516553, + 0.0011644393671303988, + 0.9999992251396179, + -0.00035870874325274083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.649810140719637e-05, + 0.0007247389294207096, + 0.0007388280704617501 + ], + [ + -7.541389641119167e-05, + 0.9999988675117493, + -0.0014958935789763927, + 0.0017943308692931327 + ], + [ + -0.0007248525507748127, + 0.0014958386309444904, + 0.9999986290931702, + -0.00048410558349290945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + 1.2577570487337653e-05, + 0.0007771732634864748, + 0.0009437111773244714 + ], + [ + -1.0976172234222759e-05, + 0.9999978542327881, + -0.002060511615127325, + 0.002097295019016003 + ], + [ + -0.0007771974778734148, + 0.002060502301901579, + 0.9999975562095642, + -0.0006233440604536673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860657, + 0.00019054125004913658, + 0.0005764178349636495, + 0.0014032263298640432 + ], + [ + -0.00018902587180491537, + 0.999996542930603, + -0.0026278733275830746, + 0.0022007764454152175 + ], + [ + -0.0005769165582023561, + 0.0026277638971805573, + 0.9999963641166687, + -0.0006246397981316397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.0004889839328825474, + 0.0005974089144729078, + 0.0017066828359890247 + ], + [ + -0.000487010576762259, + 0.9999944567680359, + -0.0032989170867949724, + 0.0022823745983338957 + ], + [ + -0.0005990187055431306, + 0.0032986251171678305, + 0.9999943971633911, + -0.0007134366206667872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007110527949407697, + 0.0004320366424508393, + 0.0020280697271632766 + ], + [ + -0.00070937629789114, + 0.9999922513961792, + -0.003868312109261751, + 0.0023498691410919572 + ], + [ + -0.0004347838694229722, + 0.0038680043071508408, + 0.9999924302101135, + -0.0007989774277793122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007128954166546464, + 0.0004006489471066743, + 0.0018133717062680616 + ], + [ + -0.0007112507009878755, + 0.9999913573265076, + -0.004090489353984594, + 0.0021896716829834747 + ], + [ + -0.0004035616002511233, + 0.004090203437954187, + 0.9999915361404419, + -0.0012575369367487325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.0007943193195387721, + 0.00035233303788118064, + 0.0017169047369743166 + ], + [ + -0.0007925998652353883, + 0.9999879002571106, + -0.004853838123381138, + 0.0029608947383720713 + ], + [ + -0.0003561842895578593, + 0.004853556863963604, + 0.9999881386756897, + -0.0013932053038803608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006670414004474878, + 0.00016822533507365733, + 0.0018357180524617434 + ], + [ + -0.000666158040985465, + 0.9999862909317017, + -0.005197789985686541, + 0.003504415600732698 + ], + [ + -0.00017169017519336194, + 0.0051976763643324375, + 0.999986469745636, + -0.001632235624998904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0005030512111261487, + -0.0004504503740463406, + 0.0025357303209602835 + ], + [ + -0.00050563202239573, + 0.9999833703041077, + -0.005747856106609106, + 0.004295179427667197 + ], + [ + 0.00044755139970220625, + 0.005748082417994738, + 0.9999833703041077, + -0.001829838840200429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.0005004483973607421, + -0.0012349014868959785, + 0.0035327473270666343 + ], + [ + -0.0005081002600491047, + 0.999980628490448, + -0.006203807424753904, + 0.004893475626190395 + ], + [ + 0.0012317729415372014, + 0.0062044295482337475, + 0.9999799728393555, + -0.0018162412409488435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.000537351006641984, + -0.0012318185763433576, + 0.00380546797633819 + ], + [ + -0.0005456472281366587, + 0.9999771118164062, + -0.006744516082108021, + 0.005232834816358619 + ], + [ + 0.0012281661620363593, + 0.006745181977748871, + 0.9999765157699585, + -0.0020494946390618167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009534736745990813, + -0.0011021787067875266, + 0.004130691040874177 + ], + [ + -0.000961759767960757, + 0.9999710917472839, + -0.0075419871136546135, + 0.005362562499320357 + ], + [ + 0.0010949558345600963, + 0.007543039508163929, + 0.9999709725379944, + -0.002037537710250193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.0011162854498252273, + -0.0011227973736822605, + 0.004699641960146635 + ], + [ + -0.001126102521084249, + 0.9999608397483826, + -0.008781137876212597, + 0.005640108001345019 + ], + [ + 0.001112951198592782, + 0.00878239143639803, + 0.9999608397483826, + -0.0020200975432880628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.0010198316304013133, + -0.0009416394750587642, + 0.005128635579477186 + ], + [ + -0.001029227045364678, + 0.9999491572380066, + -0.010031781159341335, + 0.005810854234732687 + ], + [ + 0.0009313608170486987, + 0.01003274042159319, + 0.9999492168426514, + -0.0021560226946704735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007766605704091489, + -0.0005797529593110085, + 0.005490601327999131 + ], + [ + -0.0007832953124307096, + 0.9999331831932068, + -0.011532947421073914, + 0.0059441396642954634 + ], + [ + 0.0005707570817321539, + 0.011533396318554878, + 0.9999333024024963, + -0.00235615073533668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008707321248948574, + -0.0002847291762009263, + 0.005963190898056263 + ], + [ + -0.0008743436774238944, + 0.9999158978462219, + -0.012939990498125553, + 0.006124416270683034 + ], + [ + 0.00027343793772161007, + 0.012940234504640102, + 0.9999162554740906, + -0.002818043631471127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999995231628418, + 0.0009543554042465985, + 0.0003136252926196903, + 0.006273814622798692 + ], + [ + -0.0009497980936430395, + 0.999898374080658, + -0.014223447069525719, + 0.006602884330577976 + ], + [ + -0.00032716765417717397, + 0.014223141595721245, + 0.9998987913131714, + -0.0033281519899110604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0009250862058252096, + 0.0011267464142292738, + 0.006637973953848299 + ], + [ + -0.0009077693102881312, + 0.9998829364776611, + -0.015273701399564743, + 0.007334921348323722 + ], + [ + -0.0011407439596951008, + 0.015272662043571472, + 0.999882698059082, + -0.003483169939895363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816956, + 0.0009937994182109833, + 0.002146285492926836, + 0.006674368205763724 + ], + [ + -0.0009599670302122831, + 0.9998762011528015, + -0.01570713147521019, + 0.007698619205874148 + ], + [ + -0.0021616294980049133, + 0.01570502668619156, + 0.9998743534088135, + -0.004024418573016705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819702, + 0.0008153708768077195, + 0.003173352684825659, + 0.006792430850960639 + ], + [ + -0.0007638561655767262, + 0.9998684525489807, + -0.016201015561819077, + 0.00798666146438336 + ], + [ + -0.003186145331710577, + 0.016198504716157913, + 0.9998637437820435, + -0.004461000605142149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0009345848229713738, + 0.003337858011946082, + 0.00840628519654274 + ], + [ + -0.0008764644735492766, + 0.9998487234115601, + -0.017371680587530136, + 0.00894443904326181 + ], + [ + -0.003353588515892625, + 0.017368651926517487, + 0.9998435378074646, + -0.004154123927582987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.0008287678356282413, + 0.0045023406855762005, + 0.008699243159397789 + ], + [ + -0.000745337747503072, + 0.999828577041626, + -0.01850055903196335, + 0.00946590611736452 + ], + [ + -0.0045169019140303135, + 0.018497008830308914, + 0.999818742275238, + -0.0043042895323394436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112122, + 0.0006885568145662546, + 0.005930440034717321, + 0.00890006774874485 + ], + [ + -0.0005718327593058348, + 0.9998065233230591, + -0.01966145448386669, + 0.01003451421717688 + ], + [ + -0.005942830350250006, + 0.019657714292407036, + 0.9997891187667847, + -0.004578883070043166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 0.00027616453007794917, + 0.007445462979376316, + 0.009340071483798649 + ], + [ + -0.00012348577729426324, + 0.9997898936271667, + -0.02049895189702511, + 0.010564549285545186 + ], + [ + -0.0074495598673820496, + 0.020497461780905724, + 0.9997621774673462, + -0.00497908423776212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412781, + -0.00036024575820192695, + 0.00870597269386053, + 0.009952237764778342 + ], + [ + 0.0005401443922892213, + 0.9997861981391907, + -0.02067030780017376, + 0.011031154088572215 + ], + [ + -0.008696665056049824, + 0.02067422680556774, + 0.9997484683990479, + -0.005253811463531431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.000709950749296695, + 0.009997879154980183, + 0.01028102961085413 + ], + [ + 0.000913787807803601, + 0.9997915029525757, + -0.020398246124386787, + 0.011616778449261683 + ], + [ + -0.009981312789022923, + 0.02040635608136654, + 0.9997419714927673, + -0.005769249661218213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0013528461568057537, + 0.011150604113936424, + 0.010471037248878379 + ], + [ + 0.0015737633220851421, + 0.9998021721839905, + -0.019827229902148247, + 0.011904117615599914 + ], + [ + -0.01112157478928566, + 0.019843528047204018, + 0.99974125623703, + -0.006058023847720546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.0016329752979800105, + 0.012118174694478512, + 0.010688045669509018 + ], + [ + 0.0018681212095543742, + 0.9998096823692322, + -0.019418517127633095, + 0.012222807447593052 + ], + [ + -0.012084159068763256, + 0.019439702853560448, + 0.9997379779815674, + -0.0060045013821724315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0021301365923136473, + 0.01295301504433155, + 0.010681377582090056 + ], + [ + 0.0023827843833714724, + 0.9998065829277039, + -0.019520897418260574, + 0.012685929502375707 + ], + [ + -0.012908928096294403, + 0.019550081342458725, + 0.9997255206108093, + -0.006093570302523997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.002467246726155281, + 0.013769915327429771, + 0.010657503953932421 + ], + [ + 0.002741764299571514, + 0.9997971653938293, + -0.01995289884507656, + 0.013476816078890924 + ], + [ + -0.0137178935110569, + 0.01998869888484478, + 0.9997060894966125, + -0.00623865220695734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353088, + -0.002840029774233699, + 0.014727404341101646, + 0.010630243218949308 + ], + [ + 0.0031446802895516157, + 0.9997807145118713, + -0.020704224705696106, + 0.014649256257436481 + ], + [ + -0.014665374532341957, + 0.020748209208250046, + 0.9996771812438965, + -0.006199720223515254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999869704246521, + -0.0029583810828626156, + 0.01586814410984516, + 0.010585461135791698 + ], + [ + 0.0032985173165798187, + 0.9997644424438477, + -0.021452007815241814, + 0.015785494345523742 + ], + [ + -0.015800943598151207, + 0.021501554176211357, + 0.9996439218521118, + -0.006375621678307653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0031880491878837347, + 0.01670588180422783, + 0.010958024543588577 + ], + [ + 0.0035494978073984385, + 0.9997592568397522, + -0.021651223301887512, + 0.016279839439211293 + ], + [ + -0.016632836312055588, + 0.021707389503717422, + 0.9996259808540344, + -0.0064268282756371345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358826, + -0.0034013534896075726, + 0.017632387578487396, + 0.011184949500729208 + ], + [ + 0.0037892842665314674, + 0.9997504949569702, + -0.02201450802385807, + 0.016888310438345957 + ], + [ + -0.017553109675645828, + 0.02207777090370655, + 0.9996021389961243, + -0.006406180645622637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703186, + -0.0038147722370922565, + 0.018518278375267982, + 0.011059053209812746 + ], + [ + 0.004231736529618502, + 0.9997372031211853, + -0.022529657930135727, + 0.01761009333700792 + ], + [ + -0.018427466973662376, + 0.022603996098041534, + 0.9995746612548828, + -0.0067541776498293744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.004257365129888058, + 0.019327698275446892, + 0.01079890937746867 + ], + [ + 0.004697722382843494, + 0.9997290968894958, + -0.022795794531702995, + 0.017867129740467214 + ], + [ + -0.019225412979722023, + 0.02288212440907955, + 0.9995533227920532, + -0.006384094255854902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.004344628192484379, + 0.019853176549077034, + 0.01074163604365743 + ], + [ + 0.004809228703379631, + 0.9997142553329468, + -0.02341434173285961, + 0.01847975104338611 + ], + [ + -0.019745776429772377, + 0.023504985496401787, + 0.999528706073761, + -0.006038227935483598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872742, + -0.004273205995559692, + 0.019879784435033798, + 0.011084091039779392 + ], + [ + 0.004749181680381298, + 0.9997016787528992, + -0.023957451805472374, + 0.019036481541621943 + ], + [ + -0.019771479070186615, + 0.02404691092669964, + 0.9995152950286865, + -0.005843799642246702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.004034793470054865, + 0.019967637956142426, + 0.011408750218865664 + ], + [ + 0.00453932723030448, + 0.9996699094772339, + -0.025287102907896042, + 0.020484951226314045 + ], + [ + -0.01985901966691017, + 0.025372494012117386, + 0.9994807839393616, + -0.00540313759373258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.003648292040452361, + 0.020054861903190613, + 0.011703638035966003 + ], + [ + 0.004184782970696688, + 0.999632716178894, + -0.026774615049362183, + 0.022157082522956086 + ], + [ + -0.019949816167354584, + 0.02685297653079033, + 0.9994403123855591, + -0.0050265723960879055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.00383543292991817, + 0.020006857812404633, + 0.01204416595561349 + ], + [ + 0.00437692366540432, + 0.9996233582496643, + -0.02709207870066166, + 0.02249533275000589 + ], + [ + -0.019895412027835846, + 0.027174023911356926, + 0.9994326829910278, + -0.004798055326809054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.004099968355149031, + 0.02002454176545143, + 0.01234229537455932 + ], + [ + 0.004638054873794317, + 0.999627411365509, + -0.026899252086877823, + 0.022229543620841983 + ], + [ + -0.019906792789697647, + 0.026986505836248398, + 0.9994375705718994, + -0.004590100580421479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943787, + -0.004152627661824226, + 0.01996457204222679, + 0.012689189256533333 + ], + [ + 0.004697425290942192, + 0.9996157288551331, + -0.02731921523809433, + 0.022642394846669682 + ], + [ + -0.019843455404043198, + 0.027407318353652954, + 0.9994273781776428, + -0.004438294512827111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.003944906406104565, + 0.02015707828104496, + 0.01261460613459349 + ], + [ + 0.0045133475214242935, + 0.9995911717414856, + -0.02823333442211151, + 0.023241939255967736 + ], + [ + -0.020037459209561348, + 0.02831835299730301, + 0.9993981122970581, + -0.0039019097574055197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107727, + -0.0032675720285624266, + 0.020181545987725258, + 0.012694507610538731 + ], + [ + 0.0038687323685735464, + 0.9995477795600891, + -0.02982078120112419, + 0.024389125512148578 + ], + [ + -0.020074976608157158, + 0.029892627149820328, + 0.9993515014648438, + -0.003227898999846176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.002861427143216133, + 0.021231308579444885, + 0.01141467360050782 + ], + [ + 0.003516518510878086, + 0.9995168447494507, + -0.03088207170367241, + 0.02488864771211925 + ], + [ + -0.021132685244083405, + 0.03094964474439621, + 0.9992974996566772, + -0.003077591892898731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862, + -0.002301783300936222, + 0.021792083978652954, + 0.01109701842069626 + ], + [ + 0.003009514417499304, + 0.9994671940803528, + -0.032499637454748154, + 0.025959999013803494 + ], + [ + -0.021705664694309235, + 0.0325574167072773, + 0.999234139919281, + -0.0026550578135673118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.0019446497317403555, + 0.021882113069295883, + 0.011420768888100334 + ], + [ + 0.002689081011340022, + 0.9994167685508728, + -0.03404226154088974, + 0.027029990571621886 + ], + [ + -0.021803151816129684, + 0.03409288823604584, + 0.999180793762207, + -0.002070016258031778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -0.001641829265281558, + 0.021979989483952522, + 0.011738447310483978 + ], + [ + 0.002427538624033332, + 0.9993571639060974, + -0.03576776385307312, + 0.028305965251638553 + ], + [ + -0.021907133981585503, + 0.03581243008375168, + 0.9991183876991272, + -0.001666904566809535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + -0.0011024021077901125, + 0.022024111822247505, + 0.012366933893898258 + ], + [ + 0.001948375254869461, + 0.9992595314979553, + -0.03842678666114807, + 0.030480022736541604 + ], + [ + -0.02196544222533703, + 0.03846035152673721, + 0.999018669128418, + -0.00100160532772703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + -0.0002417459909338504, + 0.021403763443231583, + 0.013965906243285406 + ], + [ + 0.0011531555792316794, + 0.9990924000740051, + -0.04257965460419655, + 0.03411338971465897 + ], + [ + -0.021374043077230453, + 0.04259457811713219, + 0.9988637566566467, + -2.015943983164816e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + 0.0002510111080482602, + 0.021014317870140076, + 0.015237655822673567 + ], + [ + 0.0007272117072716355, + 0.9989166259765625, + -0.04652971401810646, + 0.037102892889474194 + ], + [ + -0.021003231406211853, + 0.04653472080826759, + 0.9986958503723145, + 0.0007544757494621951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + 0.001443485263735056, + 0.020757440477609634, + 0.01647632520483888 + ], + [ + -0.0003878616844303906, + 0.9987103343009949, + -0.05076955258846283, + 0.040083459921531714 + ], + [ + -0.02080395445227623, + 0.05075050890445709, + 0.9984946846961975, + 0.0020172796414598174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.0023793992586433887, + 0.02051977999508381, + 0.01762753145202347 + ], + [ + -0.0012360119726508856, + 0.9984548687934875, + -0.055554915219545364, + 0.04368738852664018 + ], + [ + -0.020620262250304222, + 0.05551769956946373, + 0.9982447624206543, + 0.0029182926832657793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.004298734944313765, + 0.020192652940750122, + 0.019262555541227695 + ], + [ + -0.003020811825990677, + 0.9980155229568481, + -0.06289596855640411, + 0.05045806223567089 + ], + [ + -0.020422954112291336, + 0.06282156705856323, + 0.9978157877922058, + 0.004975779295858481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.005073931999504566, + 0.018658915534615517, + 0.022245168791193037 + ], + [ + -0.0037986915558576584, + 0.9976946711540222, + -0.06775601953268051, + 0.05461815808818716 + ], + [ + -0.018959691748023033, + 0.06767246872186661, + 0.9975274205207825, + 0.005975622495474375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.004383104387670755, + 0.021516947075724602, + 0.01852631751933824 + ], + [ + -0.002972166985273361, + 0.9978695511817932, + -0.06517262756824493, + 0.05034379753203172 + ], + [ + -0.021756766363978386, + 0.06509296596050262, + 0.9976419806480408, + 0.004702227792459662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.006276203319430351, + 0.0191669762134552, + 0.02235404082128535 + ], + [ + -0.00483538955450058, + 0.9972231984138489, + -0.07431375235319138, + 0.059771866497138275 + ], + [ + -0.019580163061618805, + 0.07420595735311508, + 0.9970507025718689, + 0.007953256814052229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.013463468290865421, + 0.01185617595911026, + 0.03285116133983652 + ], + [ + -0.012277067638933659, + 0.995400607585907, + -0.09500975161790848, + 0.08104730280996908 + ], + [ + -0.013080805540084839, + 0.09484890848398209, + 0.9954057335853577, + 0.01747891510958257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605164, + 0.007106535602360964, + 0.02068468928337097, + 0.02094891006531923 + ], + [ + -0.0055058724246919155, + 0.997059166431427, + -0.07643726468086243, + 0.05950369980419055 + ], + [ + -0.02116706222295761, + 0.076305091381073, + 0.9968597888946533, + 0.007738975403101548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.00595441646873951, + 0.022774621844291687, + 0.018363856702395105 + ], + [ + -0.004311687313020229, + 0.9974305033683777, + -0.07151050120592117, + 0.050973327072721945 + ], + [ + -0.023141905665397644, + 0.0713924840092659, + 0.9971798062324524, + 0.00629254784030111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.005955101922154427, + 0.02482219971716404, + 0.01559534080974434 + ], + [ + -0.004120660945773125, + 0.9973006844520569, + -0.07330973446369171, + 0.050544395524522535 + ], + [ + -0.025191763415932655, + 0.0731835663318634, + 0.9970002770423889, + 0.0057336404595686044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.006376426201313734, + 0.02538127824664116, + 0.014588942832272987 + ], + [ + -0.0044679357670247555, + 0.9972071647644043, + -0.07455149292945862, + 0.0490382670376794 + ], + [ + -0.025785762816667557, + 0.07441255450248718, + 0.996894121170044, + 0.005988325204943185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515503, + 0.006418973207473755, + 0.02483879216015339, + 0.014978345289178518 + ], + [ + -0.004500090144574642, + 0.9970554113388062, + -0.07655216753482819, + 0.047961839095122465 + ], + [ + -0.025257037952542305, + 0.07641519606113434, + 0.9967561364173889, + 0.006370454526546857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469055, + 0.006868094205856323, + 0.024720177054405212, + 0.015068243006649232 + ], + [ + -0.004879595711827278, + 0.9968133568763733, + -0.07961994409561157, + 0.04711385495333082 + ], + [ + -0.02518824115395546, + 0.0794731080532074, + 0.9965187311172485, + 0.006910405974106296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.0070471568033099174, + 0.025016335770487785, + 0.014672379357659297 + ], + [ + -0.00497843511402607, + 0.9966351389884949, + -0.08181419223546982, + 0.044437467043652486 + ], + [ + -0.025508718565106392, + 0.08166200667619705, + 0.9963335990905762, + 0.0065415697860652985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.007975968532264233, + 0.025857478380203247, + 0.013745132088661197 + ], + [ + -0.005721102003008127, + 0.9962671995162964, + -0.08613325655460358, + 0.043223189195850865 + ], + [ + -0.026447951793670654, + 0.08595378696918488, + 0.9959480166435242, + 0.0065311377868056296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.008404552936553955, + 0.025899531319737434, + 0.014044365805128349 + ], + [ + -0.006032766308635473, + 0.9958935976028442, + -0.09033027291297913, + 0.0408452528442823 + ], + [ + -0.026552362367510796, + 0.09014053642749786, + 0.9955750107765198, + 0.007417872456995689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.009213109500706196, + 0.026887476444244385, + 0.013005320322902303 + ], + [ + -0.006625215522944927, + 0.9954745173454285, + -0.09479790925979614, + 0.03796740363139416 + ], + [ + -0.027639180421829224, + 0.0945814698934555, + 0.9951333403587341, + 0.007011273519500442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.009413432329893112, + 0.02715360000729561, + 0.013052954605740047 + ], + [ + -0.006644922774285078, + 0.9949347972869873, + -0.10030249506235123, + 0.03552936672071076 + ], + [ + -0.02796025201678276, + 0.10008063167333603, + 0.9945864081382751, + 0.007352898350876311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278503, + 0.010448411107063293, + 0.028303269296884537, + 0.011915520222290706 + ], + [ + -0.007394106592983007, + 0.9943445324897766, + -0.1059446632862091, + 0.032653199939269816 + ], + [ + -0.02925015613436699, + 0.10568715631961823, + 0.9939691424369812, + 0.007359641427984056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999527096748352, + 0.010755124501883984, + 0.028808332979679108, + 0.011465022032675541 + ], + [ + -0.007457084022462368, + 0.9936536550521851, + -0.11223530024290085, + 0.030287146597655246 + ], + [ + -0.029832608997821808, + 0.11196739226579666, + 0.9932639598846436, + 0.00723132827197728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.01173768937587738, + 0.02939232997596264, + 0.011620547946380531 + ], + [ + -0.00817660242319107, + 0.9929239153862, + -0.11847055703401566, + 0.027476977091282606 + ], + [ + -0.030574915930628777, + 0.11817087978124619, + 0.9925224781036377, + 0.007967819778613099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.01284224446862936, + 0.030594753101468086, + 0.010823230558763386 + ], + [ + -0.008924922905862331, + 0.9921296834945679, + -0.12489606440067291, + 0.024353792735011034 + ], + [ + -0.03195790946483612, + 0.12455423176288605, + 0.9916980266571045, + 0.008121558594638886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.013437540270388126, + 0.03142225742340088, + 0.010556576919296512 + ], + [ + -0.009216981939971447, + 0.9913663864135742, + -0.13079671561717987, + 0.02057844990429104 + ], + [ + -0.03290855139493942, + 0.1304306834936142, + 0.9909111261367798, + 0.008286052395630142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394226, + 0.014365378767251968, + 0.032401151955127716, + 0.010232994575863304 + ], + [ + -0.009735409170389175, + 0.9902763962745667, + -0.13877291977405548, + 0.019332208018749953 + ], + [ + -0.034079618752002716, + 0.13837029039859772, + 0.9897940158843994, + 0.008845856607608173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.014735107310116291, + 0.03306347131729126, + 0.010415292758008711 + ], + [ + -0.009789164178073406, + 0.9893760681152344, + -0.14504872262477875, + 0.01644451636567955 + ], + [ + -0.03484951704740524, + 0.14462999999523163, + 0.9888719320297241, + 0.00930516597126489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.015337885357439518, + 0.03431614488363266, + 0.010295827427636024 + ], + [ + -0.009993080981075764, + 0.9885103702545166, + -0.15082229673862457, + 0.013975182305211607 + ], + [ + -0.03623516112565994, + 0.15037278831005096, + 0.9879651069641113, + 0.009184218254750189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.015444952994585037, + 0.03600665554404259, + 0.010032784971206084 + ], + [ + -0.00962134450674057, + 0.9876108169555664, + -0.15662787854671478, + 0.012259630911538134 + ], + [ + -0.037979673594236374, + 0.15616117417812347, + 0.9870011210441589, + 0.009377529336463498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067444, + 0.015571298077702522, + 0.03744126856327057, + 0.01048497172153514 + ], + [ + -0.009332213550806046, + 0.9868494272232056, + -0.16137243807315826, + 0.009732567919823139 + ], + [ + -0.03946167230606079, + 0.16089029610157013, + 0.9861831068992615, + 0.009406541749511076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.015573395416140556, + 0.03915471211075783, + 0.010909251609574198 + ], + [ + -0.008849537000060081, + 0.9860241413116455, + -0.16636738181114197, + 0.007121400303288322 + ], + [ + -0.04119839891791344, + 0.16587311029434204, + 0.9852861762046814, + 0.009581899001141606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.01579897478222847, + 0.04070235416293144, + 0.011687229930058766 + ], + [ + -0.008583861403167248, + 0.9851139187812805, + -0.1716882288455963, + 0.004254368799941047 + ], + [ + -0.042808953672647476, + 0.17117512226104736, + 0.9843101501464844, + 0.010016109745787538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.016361400485038757, + 0.04317878186702728, + 0.011344448541817459 + ], + [ + -0.008463001810014248, + 0.9841516017913818, + -0.1771269291639328, + 0.0008269073062009461 + ], + [ + -0.045392513275146484, + 0.17657257616519928, + 0.9832403659820557, + 0.010170104265536951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.016970030963420868, + 0.045455485582351685, + 0.01146057526702466 + ], + [ + -0.008352922275662422, + 0.982995331287384, + -0.18344049155712128, + -0.0014016424498075376 + ], + [ + -0.04779551923274994, + 0.18284474313259125, + 0.9819793105125427, + 0.01080492193122273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.01748301088809967, + 0.047148268669843674, + 0.01185188610916553 + ], + [ + -0.008270947262644768, + 0.981958270072937, + -0.1889168918132782, + -0.00452203519905553 + ], + [ + -0.049600470811128616, + 0.18828794360160828, + 0.9808605909347534, + 0.01085051996430949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865723, + 0.01858258619904518, + 0.049399469047784805, + 0.011391936307368074 + ], + [ + -0.008579387329518795, + 0.9806725978851318, + -0.1954677402973175, + -0.006064758320217547 + ], + [ + -0.052076999098062515, + 0.19477149844169617, + 0.9794651865959167, + 0.011071770119926204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.01906079612672329, + 0.05056662857532501, + 0.012413471256909163 + ], + [ + -0.008519092574715614, + 0.979552149772644, + -0.20101001858711243, + -0.008992790443944219 + ], + [ + -0.05336406081914902, + 0.20028552412986755, + 0.978283166885376, + 0.010708748780028976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.020068388432264328, + 0.05223670229315758, + 0.013085153439770576 + ], + [ + -0.00883301068097353, + 0.9782982468605042, + -0.20701347291469574, + -0.011518774134025949 + ], + [ + -0.05525750294327736, + 0.20622767508029938, + 0.9769425392150879, + 0.011023940538744564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.02098757028579712, + 0.05362417548894882, + 0.014294017300657602 + ], + [ + -0.009101630188524723, + 0.9770225882530212, + -0.21294136345386505, + -0.013817191817898951 + ], + [ + -0.05686115473508835, + 0.21209995448589325, + 0.9755923748016357, + 0.010782767674359291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302429, + 0.0217584315687418, + 0.055909838527441025, + 0.01453317329287529 + ], + [ + -0.009053947404026985, + 0.9758765697479248, + -0.21813525259494781, + -0.01740414658561349 + ], + [ + -0.05930737778544426, + 0.21723611652851105, + 0.9743157029151917, + 0.010638785921037197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.02219223976135254, + 0.057744357734918594, + 0.015224977647480764 + ], + [ + -0.008665273897349834, + 0.9743892550468445, + -0.22470079362392426, + -0.01906387136955543 + ], + [ + -0.06125209853053093, + 0.22377006709575653, + 0.9727153778076172, + 0.010787460031797704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.02254362963140011, + 0.059229522943496704, + 0.016250189199395797 + ], + [ + -0.0082728061825037, + 0.9729372262954712, + -0.23092132806777954, + -0.020262120459633676 + ], + [ + -0.06283241510391235, + 0.2299671471118927, + 0.9711679816246033, + 0.010405613125666329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.021929867565631866, + 0.060454998165369034, + 0.017563712337742683 + ], + [ + -0.00716259004548192, + 0.9721141457557678, + -0.23439866304397583, + -0.024599960006763347 + ], + [ + -0.06390949338674545, + 0.23348045349121094, + 0.9702589511871338, + 0.009968394433836575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.022857923060655594, + 0.06275815516710281, + 0.017310339374386752 + ], + [ + -0.007085306569933891, + 0.9705377221107483, + -0.24084506928920746, + -0.023624863637530285 + ], + [ + -0.06641437858343124, + 0.2398626059293747, + 0.9685324430465698, + 0.009750808905000272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990967, + 0.022836510092020035, + 0.06369549036026001, + 0.018532006248183873 + ], + [ + -0.006593511439859867, + 0.9696597456932068, + -0.24436970055103302, + -0.025918413739671686 + ], + [ + -0.06734350323677063, + 0.24338965117931366, + 0.9675878882408142, + 0.009756612494263961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731384, + 0.022658245638012886, + 0.06370363384485245, + 0.020468318073645887 + ], + [ + -0.006218820810317993, + 0.968935489654541, + -0.24723535776138306, + -0.02835056237552477 + ], + [ + -0.0673266276717186, + 0.24627342820167542, + 0.9668591022491455, + 0.009293054530154103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430481, + 0.022214021533727646, + 0.06285545229911804, + 0.02283982898554076 + ], + [ + -0.005891245789825916, + 0.9685425162315369, + -0.24877847731113434, + -0.032913238672114424 + ], + [ + -0.0664045512676239, + 0.24785475432872772, + 0.966518759727478, + 0.008623294240754583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.02297596074640751, + 0.06270275264978409, + 0.02359493595102559 + ], + [ + -0.006352042779326439, + 0.967345118522644, + -0.25338318943977356, + -0.03400110159798161 + ], + [ + -0.06647691875696182, + 0.25241926312446594, + 0.9653317332267761, + 0.008809640922624132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001587, + 0.024106651544570923, + 0.062348201870918274, + 0.024298555015221886 + ], + [ + -0.007149352692067623, + 0.9658434987068176, + -0.2590274214744568, + -0.03453937576749645 + ], + [ + -0.06646288931369781, + 0.25800228118896484, + 0.9638555645942688, + 0.008473607557623282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.025127019733190536, + 0.061808183789253235, + 0.025235253491479426 + ], + [ + -0.00790814682841301, + 0.964383065700531, + -0.26439133286476135, + -0.035423887719440716 + ], + [ + -0.06625013053417206, + 0.2633133828639984, + 0.962432861328125, + 0.007975714305496734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.026491761207580566, + 0.061391349881887436, + 0.026107828027528264 + ], + [ + -0.008958176709711552, + 0.9628472924232483, + -0.26989778876304626, + -0.03603739101470084 + ], + [ + -0.06626056134700775, + 0.2687438428401947, + 0.9609299302101135, + 0.006942387160075747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.997768759727478, + 0.027361121028661728, + 0.06090030074119568, + 0.027020359266063443 + ], + [ + -0.009600468911230564, + 0.9614867568016052, + -0.27468350529670715, + -0.036782873895667166 + ], + [ + -0.06607048213481903, + 0.27348592877388, + 0.9596041440963745, + 0.005685412891857002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.02765067294239998, + 0.06033976748585701, + 0.027895354463354408 + ], + [ + -0.00972452387213707, + 0.960184633731842, + -0.2791968286037445, + -0.03708869383832359 + ], + [ + -0.06565729528665543, + 0.2779943645000458, + 0.9583361744880676, + 0.0049065222518275605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621277, + 0.02779082953929901, + 0.059224676340818405, + 0.028898586559554802 + ], + [ + -0.009968835860490799, + 0.9593074321746826, + -0.28218764066696167, + -0.037909449025502674 + ], + [ + -0.06465689837932587, + 0.2809927463531494, + 0.9575294256210327, + 0.003456783857520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.02732110023498535, + 0.05665348842740059, + 0.03219099793097248 + ], + [ + -0.010183447040617466, + 0.9590361714363098, + -0.28310060501098633, + -0.040090637955227465 + ], + [ + -0.062067363411188126, + 0.28196316957473755, + 0.9574154615402222, + 0.0018520734090681956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518921, + 0.02725362963974476, + 0.055557575076818466, + 0.03362857496932796 + ], + [ + -0.010300735011696815, + 0.9584397077560425, + -0.28510910272598267, + -0.04009571418409114 + ], + [ + -0.061018843203783035, + 0.28399038314819336, + 0.9568835496902466, + 0.0003777931930254337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.026886502280831337, + 0.05255064740777016, + 0.03828270487163378 + ], + [ + -0.010742219164967537, + 0.9581257700920105, + -0.2861461639404297, + -0.04071406838382878 + ], + [ + -0.058043595403432846, + 0.28508269786834717, + 0.9567438364028931, + -0.0001792552415281535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.02632264979183674, + 0.05048767477273941, + 0.04137905193087848 + ], + [ + -0.01075446791946888, + 0.9579384326934814, + -0.2867721617221832, + -0.04118052962155122 + ], + [ + -0.05591268837451935, + 0.2857639491558075, + 0.9566675424575806, + -0.0013111385152391767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.025764308869838715, + 0.04729223623871803, + 0.04606975539708916 + ], + [ + -0.011069864965975285, + 0.957582414150238, + -0.28794682025909424, + -0.04041216387160365 + ], + [ + -0.05270496383309364, + 0.2870054244995117, + 0.95647794008255, + -0.0015479700619597803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.024666791781783104, + 0.0440717376768589, + 0.05074345522924611 + ], + [ + -0.010880136862397194, + 0.9572102427482605, + -0.28918883204460144, + -0.03939331149601418 + ], + [ + -0.049319278448820114, + 0.2883402407169342, + 0.9562570452690125, + -0.0015939948290748444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.02333184704184532, + 0.039388496428728104, + 0.057670073093765456 + ], + [ + -0.010894689708948135, + 0.9568221569061279, + -0.2904696464538574, + -0.03872077068435433 + ], + [ + -0.04446497932076454, + 0.28973597288131714, + 0.9560731649398804, + -0.0008982613895331388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.999022901058197, + 0.021438565105199814, + 0.0386476069688797, + 0.05841883397863611 + ], + [ + -0.009327387437224388, + 0.9570468068122864, + -0.28978341817855835, + -0.04008617934608913 + ], + [ + -0.043200112879276276, + 0.2891398072242737, + 0.9563116431236267, + -0.0028334676169122206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.02055411785840988, + 0.03429413214325905, + 0.06473380769602954 + ], + [ + -0.009684556163847446, + 0.9566200971603394, + -0.29117727279663086, + -0.03872587118530646 + ], + [ + -0.03879134729504585, + 0.2906123399734497, + 0.9560542702674866, + -0.00242383309523575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.01957114413380623, + 0.033238962292671204, + 0.06629393020968723 + ], + [ + -0.009049003012478352, + 0.956614077091217, + -0.2912174165248871, + -0.03899906287577165 + ], + [ + -0.03749631345272064, + 0.29069992899894714, + 0.9560793042182922, + -0.00360449408079781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9991267323493958, + 0.018968984484672546, + 0.03722758963704109, + 0.06044832824567413 + ], + [ + -0.00731707364320755, + 0.9566694498062134, + -0.29108425974845886, + -0.0393194820124494 + ], + [ + -0.04113606736063957, + 0.2905576527118683, + 0.9559728503227234, + -0.006820606620496382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.01813526451587677, + 0.029316460713744164, + 0.0719045484074108 + ], + [ + -0.008797070011496544, + 0.9564486145973206, + -0.2917681038379669, + -0.03959213765945448 + ], + [ + -0.03333098068833351, + 0.2913368046283722, + 0.9560397267341614, + -0.006263776836187944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199951, + 0.01770026423037052, + 0.02899668738245964, + 0.07282620111237402 + ], + [ + -0.008438151329755783, + 0.9561333060264587, + -0.2928103804588318, + -0.03951800545960989 + ], + [ + -0.03290751948952675, + 0.2923966646194458, + 0.9557307362556458, + -0.006408601705713765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492126, + 0.01685449667274952, + 0.028420694172382355, + 0.07333949811594642 + ], + [ + -0.007757614832371473, + 0.9557737112045288, + -0.2940008342266083, + -0.03932323279466642 + ], + [ + -0.032118987292051315, + 0.293619841337204, + 0.9553825259208679, + -0.008200544661477856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.016039585694670677, + 0.027598802000284195, + 0.07451310631535624 + ], + [ + -0.007185886148363352, + 0.9554562568664551, + -0.2950453460216522, + -0.03954542505519424 + ], + [ + -0.031101852655410767, + 0.2946966588497162, + 0.9550845623016357, + -0.00927570360996153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9995346069335938, + 0.015247568488121033, + 0.026421522721648216, + 0.07623386689988167 + ], + [ + -0.006741792429238558, + 0.9551193118095398, + -0.29614463448524475, + -0.03978131478095589 + ], + [ + -0.029751190915703773, + 0.2958286702632904, + 0.9547775983810425, + -0.010324065470258178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.015149546787142754, + 0.02469441294670105, + 0.07924259565770626 + ], + [ + -0.007122847717255354, + 0.9547296166419983, + -0.2973896563053131, + -0.03973900044827884 + ], + [ + -0.028081808239221573, + 0.29708895087242126, + 0.9544367790222168, + -0.010729409347328803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.01469515636563301, + 0.023525867611169815, + 0.0816061683404057 + ], + [ + -0.007002733647823334, + 0.9543582201004028, + -0.29858213663101196, + -0.03970690429534601 + ], + [ + -0.026839815080165863, + 0.2983025312423706, + 0.9540939331054688, + -0.011793889251092206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.014255501329898834, + 0.022258255630731583, + 0.08400870341321698 + ], + [ + -0.006950950715690851, + 0.9542365074157715, + -0.29897212982177734, + -0.04019942604961967 + ], + [ + -0.025501638650894165, + 0.29871296882629395, + 0.9540022015571594, + -0.012921131377958733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.999679446220398, + 0.013773739337921143, + 0.021242758259177208, + 0.08625497954047244 + ], + [ + -0.006781786680221558, + 0.9540805220603943, + -0.29947352409362793, + -0.03999148963586144 + ], + [ + -0.02439217083156109, + 0.29923349618911743, + 0.9538680911064148, + -0.01354887510811829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.013498718850314617, + 0.020003944635391235, + 0.08879743953761847 + ], + [ + -0.006886289454996586, + 0.9540290236473083, + -0.2996351718902588, + -0.04012941702663818 + ], + [ + -0.023129034787416458, + 0.2994101643562317, + 0.9538441300392151, + -0.014311260647018967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.013105448335409164, + 0.019050858914852142, + 0.09069279856655908 + ], + [ + -0.006793595850467682, + 0.9539903402328491, + -0.2997603416442871, + -0.040399085924677225 + ], + [ + -0.022102829068899155, + 0.29955077171325684, + 0.9538242816925049, + -0.014870321993594584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.012848930433392525, + 0.017874201759696007, + 0.09214374913793542 + ], + [ + -0.006899069529026747, + 0.9539555907249451, + -0.2998685836791992, + -0.04086805932481935 + ], + [ + -0.020904185250401497, + 0.29967260360717773, + 0.9538130760192871, + -0.01518882774727662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012085, + 0.01229442935436964, + 0.016187604516744614, + 0.09402795670473058 + ], + [ + -0.006877788342535496, + 0.9539898633956909, + -0.2997598946094513, + -0.04170480381150771 + ], + [ + -0.019128188490867615, + 0.29958662390708923, + 0.953877329826355, + -0.015625516276644623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.011615701019763947, + 0.014489619061350822, + 0.09575997982984003 + ], + [ + -0.006735567003488541, + 0.9539309144020081, + -0.29995065927505493, + -0.04249177264738018 + ], + [ + -0.017306232824921608, + 0.2998013496398926, + 0.9538446664810181, + -0.01584525121193703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.01100757997483015, + 0.012793038040399551, + 0.0973153879299112 + ], + [ + -0.006657890044152737, + 0.9538103938102722, + -0.30033543705940247, + -0.043412358166002064 + ], + [ + -0.015508098527789116, + 0.3002074658870697, + 0.9537478685379028, + -0.01595004373027579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.010259771719574928, + 0.011384222656488419, + 0.09844499147780564 + ], + [ + -0.006358100101351738, + 0.9536084532737732, + -0.3009825050830841, + -0.044281846223115595 + ], + [ + -0.013944102451205254, + 0.300874799489975, + 0.9535617232322693, + -0.015661147118384098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634399, + 0.009562669321894646, + 0.009711958467960358, + 0.09999495726888595 + ], + [ + -0.006183892488479614, + 0.9532966613769531, + -0.30197229981422424, + -0.044518547343171164 + ], + [ + -0.012146038934588432, + 0.3018842041492462, + 0.9532672166824341, + -0.01529266005989326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.009050115942955017, + 0.007406006567180157, + 0.10272788896184899 + ], + [ + -0.006386688444763422, + 0.9531480669975281, + -0.3024367690086365, + -0.04496018507431828 + ], + [ + -0.00979610811918974, + 0.30236876010894775, + 0.9531406760215759, + -0.014822122744669246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.008848156780004501, + 0.005254167132079601, + 0.1055042012554148 + ], + [ + -0.006839944049715996, + 0.9529503583908081, + -0.30304932594299316, + -0.044643851069976453 + ], + [ + -0.007688388228416443, + 0.302997350692749, + 0.9529603719711304, + -0.014400273188948631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.008388788439333439, + 0.0042376890778541565, + 0.10684168938061465 + ], + [ + -0.006710602901875973, + 0.9529709815979004, + -0.3029872477054596, + -0.04476464271251841 + ], + [ + -0.0065800901502370834, + 0.30294540524482727, + 0.9529851675033569, + -0.014077586124894088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.007891487330198288, + 0.0028796824626624584, + 0.10874243378639223 + ], + [ + -0.006649356335401535, + 0.9530461430549622, + -0.30275216698646545, + -0.044612050894647835 + ], + [ + -0.005133634898811579, + 0.30272236466407776, + 0.9530649781227112, + -0.013278573646675795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.007440454326570034, + 0.0017033653566613793, + 0.11037248739081881 + ], + [ + -0.006577573716640472, + 0.953201174736023, + -0.3022651970386505, + -0.044543838666994934 + ], + [ + -0.0038726404309272766, + 0.302245169878006, + 0.9532223343849182, + -0.012293847370892763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.007206707261502743, + 0.00023568153847008944, + 0.11236689644663231 + ], + [ + -0.006799705326557159, + 0.9533676505088806, + -0.3017348051071167, + -0.044273384482316346 + ], + [ + -0.002399205695837736, + 0.3017253875732422, + 0.9533918499946594, + -0.011430523079900962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.007215050049126148, + -0.0013026536908000708, + 0.11424261234376741 + ], + [ + -0.007272626273334026, + 0.9536243677139282, + -0.3009113669395447, + -0.04410261769282996 + ], + [ + -0.0009288478759117424, + 0.3009127378463745, + 0.9536512494087219, + -0.010625625786696733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.007200681138783693, + -0.0029490399174392223, + 0.11608502369212068 + ], + [ + -0.007753776852041483, + 0.9538871645927429, + -0.3000653386116028, + -0.04381805995388118 + ], + [ + 0.0006523765623569489, + 0.3000791072845459, + 0.9539141058921814, + -0.010062040676079367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.0073445760644972324, + -0.004333018325269222, + 0.11733630617027699 + ], + [ + -0.008303535170853138, + 0.9543184041976929, + -0.29867619276046753, + -0.04407020736151658 + ], + [ + 0.0019414287526160479, + 0.29870128631591797, + 0.9543446898460388, + -0.009541352140418577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.00758214620873332, + -0.005407380871474743, + 0.1183347017544767 + ], + [ + -0.008846807293593884, + 0.9547628164291382, + -0.29723671078681946, + -0.0442105966012763 + ], + [ + 0.0029090745374560356, + 0.29727163910865784, + 0.9547885060310364, + -0.00884681729518849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.999944269657135, + 0.007875194773077965, + -0.007030118256807327, + 0.12020687434984291 + ], + [ + -0.00960238091647625, + 0.9552057981491089, + -0.2957865297794342, + -0.044238860248183104 + ], + [ + 0.004385833628475666, + 0.29583755135536194, + 0.9552282094955444, + -0.008375071351031733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.008488552644848824, + -0.008215175941586494, + 0.1214997366718624 + ], + [ + -0.010531414300203323, + 0.9556097388267517, + -0.2944472134113312, + -0.044210075218554426 + ], + [ + 0.005351071245968342, + 0.29451319575309753, + 0.9556324481964111, + -0.007484890199671297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301025, + 0.009077849797904491, + -0.009421899914741516, + 0.12305893797589386 + ], + [ + -0.011442153714597225, + 0.9559639096260071, + -0.29326117038726807, + -0.04428114564532576 + ], + [ + 0.006344815716147423, + 0.2933439016342163, + 0.9559859037399292, + -0.006673398884215757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.009452003985643387, + -0.010222547687590122, + 0.12392992510095888 + ], + [ + -0.012028098106384277, + 0.9562346339225769, + -0.29235365986824036, + -0.044179664001516676 + ], + [ + 0.007011826150119305, + 0.2924482524394989, + 0.9562556147575378, + -0.006083652180741014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.009715363383293152, + -0.010953372344374657, + 0.12452427223324776 + ], + [ + -0.012486658990383148, + 0.9564980268478394, + -0.2914715111255646, + -0.044282782656828994 + ], + [ + 0.007645128294825554, + 0.291577011346817, + 0.9565168023109436, + -0.005735602267288967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.009856334887444973, + -0.011652341112494469, + 0.12496163517884586 + ], + [ + -0.01281923707574606, + 0.9567082524299622, + -0.29076623916625977, + -0.04437924002843868 + ], + [ + 0.008282002061605453, + 0.2908817529678345, + 0.956723153591156, + -0.005250013919304247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.009932444430887699, + -0.01313873939216137, + 0.1264090559080891 + ], + [ + -0.013320253230631351, + 0.9568285942077637, + -0.29034748673439026, + -0.044236994198138785 + ], + [ + 0.00968766026198864, + 0.2904830873012543, + 0.9568310976028442, + -0.0048119629115757085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.010340643115341663, + -0.013315418735146523, + 0.12625543721344162 + ], + [ + -0.013758896850049496, + 0.9569211006164551, + -0.2900218367576599, + -0.043850593094754475 + ], + [ + 0.009742794558405876, + 0.2901638150215149, + 0.9569274187088013, + -0.004538665630895158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.010536699555814266, + -0.014125842601060867, + 0.12689951412055805 + ], + [ + -0.01417627651244402, + 0.957065999507904, + -0.289523184299469, + -0.04353791680440064 + ], + [ + 0.010468745604157448, + 0.2896784543991089, + 0.9570667743682861, + -0.004452629819633844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9998363256454468, + 0.010891634970903397, + -0.01444687508046627, + 0.12711140254269476 + ], + [ + -0.01459907554090023, + 0.9573293328285217, + -0.2886301577091217, + -0.043707883679915384 + ], + [ + 0.010686762630939484, + 0.2887938320636749, + 0.957331657409668, + -0.003963970226924057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.011450154706835747, + -0.014529063366353512, + 0.1271334952958252 + ], + [ + -0.015150830149650574, + 0.9575045108795166, + -0.28802019357681274, + -0.04353015209831621 + ], + [ + 0.010613768361508846, + 0.288191020488739, + 0.9575141072273254, + -0.003776823836075061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.011858062818646431, + -0.014580335468053818, + 0.1271391877985519 + ], + [ + -0.015548942610621452, + 0.957697331905365, + -0.2873569428920746, + -0.04370509114359384 + ], + [ + 0.010556051507592201, + 0.28753289580345154, + 0.9577125906944275, + -0.0034743046630983767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.012128437869250774, + -0.01464923843741417, + 0.12714342397192252 + ], + [ + -0.015820525586605072, + 0.9578892588615417, + -0.28670182824134827, + -0.04386328150639716 + ], + [ + 0.010555103421211243, + 0.2868817150592804, + 0.9579078555107117, + -0.003259931269871152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.012183948419988155, + -0.015137601643800735, + 0.12748415894482445 + ], + [ + -0.016006914898753166, + 0.9580661058425903, + -0.28609979152679443, + -0.04371271046161976 + ], + [ + 0.011016998440027237, + 0.2862880825996399, + 0.9580802321434021, + -0.0030070497046994125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.012012994848191738, + -0.015673071146011353, + 0.12778734354221302 + ], + [ + -0.015984533354640007, + 0.9583596587181091, + -0.2851162254810333, + -0.04402302736922613 + ], + [ + 0.011595341376960278, + 0.28531113266944885, + 0.9583648443222046, + -0.0026957032123945002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.012110580690205097, + -0.01639024168252945, + 0.12720912792112515 + ], + [ + -0.016277389600872993, + 0.9584789872169495, + -0.2846982777118683, + -0.04389916473756666 + ], + [ + 0.012261840514838696, + 0.28490594029426575, + 0.9584770798683167, + -0.0021111436653882265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.012454718351364136, + -0.01676257885992527, + 0.12746051251888274 + ], + [ + -0.016713786870241165, + 0.9584629535675049, + -0.2847267985343933, + -0.04306872240267694 + ], + [ + 0.012520119547843933, + 0.28494489192962646, + 0.958462119102478, + -0.0024376458954066035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.011867624707520008, + -0.016696546226739883, + 0.1279075876850149 + ], + [ + -0.016128212213516235, + 0.9585614800453186, + -0.2844289243221283, + -0.04291896531763284 + ], + [ + 0.012629170902073383, + 0.28463855385780334, + 0.9585517048835754, + -0.0020371490552940448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.011898798868060112, + -0.016527118161320686, + 0.1279621234730534 + ], + [ + -0.016109328716993332, + 0.9585740566253662, + -0.28438764810562134, + -0.04313500190113226 + ], + [ + 0.012458594515919685, + 0.28459489345550537, + 0.9585669040679932, + -0.0020584526623639724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.999800980091095, + 0.01179526373744011, + -0.016088683158159256, + 0.1277370683848858 + ], + [ + -0.015881424769759178, + 0.9586682319641113, + -0.2840828597545624, + -0.04391643516314418 + ], + [ + 0.012072877027094364, + 0.28428182005882263, + 0.9586647748947144, + -0.0022801976063815147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692444, + 0.01237634476274252, + -0.016462460160255432, + 0.12813346962565964 + ], + [ + -0.016553102061152458, + 0.9584661722183228, + -0.284725546836853, + -0.04361515345922469 + ], + [ + 0.012254849076271057, + 0.28493767976760864, + 0.9584677219390869, + -0.0019981356985543084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348206, + 0.012780892662703991, + -0.01641402579843998, + 0.12802889311443205 + ], + [ + -0.01693068817257881, + 0.9583755731582642, + -0.28500810265541077, + -0.04348853129650588 + ], + [ + 0.012088143266737461, + 0.2852243483066559, + 0.9583845734596252, + -0.0019025602934720075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.013170582242310047, + -0.01641548052430153, + 0.12796379301858984 + ], + [ + -0.017300555482506752, + 0.9584664106369019, + -0.2846803069114685, + -0.043637625746550446 + ], + [ + 0.011984280310571194, + 0.2849012613296509, + 0.9584819674491882, + -0.0018477344819668518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.013317734003067017, + -0.015992529690265656, + 0.12738469408258146 + ], + [ + -0.017315302044153214, + 0.9586091041564941, + -0.28419846296310425, + -0.04350717869465766 + ], + [ + 0.011545705609023571, + 0.28441381454467773, + 0.9586321115493774, + -0.00197868745814523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.01368729118257761, + -0.015205700881779194, + 0.12629970697605092 + ], + [ + -0.01744253747165203, + 0.9586939811706543, + -0.2839042842388153, + -0.04310804038490776 + ], + [ + 0.010691733099520206, + 0.28411009907722473, + 0.9587320685386658, + -0.002115762251449506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421875, + 0.013676067814230919, + -0.014477606862783432, + 0.12560550220634625 + ], + [ + -0.01721770130097866, + 0.9589017629623413, + -0.2832152843475342, + -0.04338346408558605 + ], + [ + 0.01000933162868023, + 0.28340840339660645, + 0.9589470624923706, + -0.0021969726633118544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.013848480768501759, + -0.01349636260420084, + 0.12431496070778889 + ], + [ + -0.017103176563978195, + 0.9589590430259705, + -0.283028244972229, + -0.04307516957633197 + ], + [ + 0.009022948332130909, + 0.28320616483688354, + 0.9590166211128235, + -0.002560826824755286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.999824583530426, + 0.013728667981922626, + -0.012739814817905426, + 0.12332272297986176 + ], + [ + -0.01677251234650612, + 0.9590147137641907, + -0.2828594148159027, + -0.04278240588534137 + ], + [ + 0.008334387093782425, + 0.28302350640296936, + 0.9590767621994019, + -0.002792684978845975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.013748432509601116, + -0.012272721156477928, + 0.12314405303610408 + ], + [ + -0.016660628840327263, + 0.9589675068855286, + -0.2830260992050171, + -0.04249898624788646 + ], + [ + 0.007877975702285767, + 0.2831825017929077, + 0.9590336680412292, + -0.002601276740998678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.013619882985949516, + -0.011728364042937756, + 0.12289630586038466 + ], + [ + -0.016384350135922432, + 0.9589269757270813, + -0.2831794321537018, + -0.04257616070099175 + ], + [ + 0.007389775477349758, + 0.28332582116127014, + 0.9589952230453491, + -0.002659119041029202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.013129913248121738, + -0.010828699916601181, + 0.12204894148137259 + ], + [ + -0.0156614538282156, + 0.9588568210601807, + -0.28345778584480286, + -0.04246848251204938 + ], + [ + 0.006661396473646164, + 0.2835863530635834, + 0.9589235782623291, + -0.0029736721341538687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.012918918393552303, + -0.008521311916410923, + 0.11897100611873296 + ], + [ + -0.01480634231120348, + 0.9587716460227966, + -0.28379157185554504, + -0.041637655663425505 + ], + [ + 0.004503712058067322, + 0.2838837802410126, + 0.9588481187820435, + -0.0033875803199961132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.012471792288124561, + -0.00764962425455451, + 0.11800907916672852 + ], + [ + -0.014129041694104671, + 0.9588639736175537, + -0.2835140824317932, + -0.04146576929462912 + ], + [ + 0.003799020778387785, + 0.2835918068885803, + 0.9589375853538513, + -0.0035247917492043875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.012243223376572132, + -0.007329609245061874, + 0.1178909517986619 + ], + [ + -0.013818559236824512, + 0.9589112401008606, + -0.28336960077285767, + -0.04142624618100893 + ], + [ + 0.0035590874031186104, + 0.28344202041625977, + 0.9589827656745911, + -0.0034955795358299563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.012170713394880295, + -0.007128079421818256, + 0.11802918684223425 + ], + [ + -0.013692483305931091, + 0.9588640332221985, + -0.2835354208946228, + -0.04142552948678317 + ], + [ + 0.0033840304240584373, + 0.28360480070114136, + 0.9589352607727051, + -0.0033775568894191606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.012092404067516327, + -0.00668905908241868, + 0.11781044409650823 + ], + [ + -0.013493748381733894, + 0.9587841629981995, + -0.28381478786468506, + -0.041391781349059034 + ], + [ + 0.002981360536068678, + 0.283877968788147, + 0.9588558077812195, + -0.003293896331856756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.012219628319144249, + -0.006055587437003851, + 0.11732770238557588 + ], + [ + -0.013437382876873016, + 0.9586056470870972, + -0.28441986441612244, + -0.04120393435511252 + ], + [ + 0.0023294161073863506, + 0.28447476029396057, + 0.9586806893348694, + -0.0033380080755982225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355713, + 0.012324619106948376, + -0.0058808960020542145, + 0.11738403041077697 + ], + [ + -0.0134885897859931, + 0.9585719108581543, + -0.28453120589256287, + -0.041759971177974795 + ], + [ + 0.0021305226255208254, + 0.28458401560783386, + 0.9586487412452698, + -0.0035512027616673354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.012797458097338676, + -0.005433768033981323, + 0.11718776885258116 + ], + [ + -0.013815557584166527, + 0.9583991169929504, + -0.28509700298309326, + -0.04178524767757272 + ], + [ + 0.0015592018608003855, + 0.28514450788497925, + 0.9584832787513733, + -0.0035142631787533425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.013290473259985447, + -0.005007470026612282, + 0.1170642763376236 + ], + [ + -0.01416697632521391, + 0.9582738876342773, + -0.2855004370212555, + -0.0416344809345901 + ], + [ + 0.0010040916968137026, + 0.2855425775051117, + 0.9583654999732971, + -0.0038818875094875694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/orbit_left/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3499a665243a8cfbc602a4ec6ae65385338bd9e8 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/orbit_left/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999985853759727, + -7.29400126147084e-05, + 0.0016637566872397048, + -0.0016503383659247897 + ], + [ + 7.39363538072107e-05, + 0.9999998211860657, + -0.0005987986875713579, + 0.0007014635764441959 + ], + [ + -0.0016637128037169735, + 0.0005989208584651351, + 0.9999984662290011, + -4.0256314936875666e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999947753710455, + 7.64142896514386e-06, + 0.0032378811792309063, + -0.003255744797560052 + ], + [ + -3.871067399297402e-06, + 0.9999993443489075, + -0.0011644578914800907, + 0.0013857850558843536 + ], + [ + -0.003237887758568304, + 0.0011644393671303988, + 0.9999940600936897, + 1.3192278844642992e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999875581709616, + 7.649810140719637e-05, + 0.004993186627002183, + -0.005111078418775495 + ], + [ + -6.902805449668916e-05, + 0.9999988675117493, + -0.001496201852387278, + 0.0017939410095860883 + ], + [ + -0.004993295413345711, + 0.0014958386309444904, + 0.9999864252080402, + 7.569144746127595e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999790835331197, + 1.2577570487337656e-05, + 0.006468419295686005, + -0.0068561248363565854 + ], + [ + 7.509135123740659e-07, + 0.9999978542327883, + -0.0020605407126675344, + 0.0020958543283406275 + ], + [ + -0.0064684312975610055, + 0.0020605023019015793, + 0.9999769376628489, + 0.0001234594981910825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999704153222614, + 0.00019054125004913663, + 0.00769045576726514, + -0.008346755734789135 + ], + [ + -0.00017032625625952827, + 0.9999965429306032, + -0.00262915156894059, + 0.002200186322332781 + ], + [ + -0.0076909298841059065, + 0.0026277638971805577, + 0.9999669547924023, + 0.0003069107037631826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999581625859852, + 0.0004889839328825474, + 0.009134217465802367, + -0.00999327092328219 + ], + [ + -0.0004588305265739296, + 0.9999944567680359, + -0.0033029544040616165, + 0.002284407450385045 + ], + [ + -0.00913578191190749, + 0.0032986251171678305, + 0.9999528442233873, + 0.0004046804049470825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999457414871916, + 0.0007110527949407697, + 0.01039160630901624, + -0.011622089883763804 + ], + [ + -0.000670814293637346, + 0.9999922513961792, + -0.003875185349131402, + 0.0023545381482079353 + ], + [ + -0.010394281569521135, + 0.0038680043071508408, + 0.9999385023216155, + 0.0005032479611670972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999303011863059, + 0.0007128954166546464, + 0.011782955207975784, + -0.0137868572066454 + ], + [ + -0.0006646453001349503, + 0.9999913573265076, + -0.004098320063114345, + 0.0021947077809202826 + ], + [ + -0.011785775404580874, + 0.004090203437954187, + 0.9999221623269477, + 0.00023023223281444104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999131426814017, + 0.0007943193195387721, + 0.01315735444391533, + -0.01583343331680417 + ], + [ + -0.000730381217984719, + 0.9999879002571106, + -0.004863589451297718, + 0.002966715850495451 + ], + [ + -0.013161058074371118, + 0.004853556863963604, + 0.999901590612637, + 0.00027969783348321146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998961486152811, + 0.0006670414004474878, + 0.014395952451631226, + -0.01766500082873956 + ], + [ + -0.0005921377691229274, + 0.9999862909317017, + -0.005206741796291708, + 0.003507780806888597 + ], + [ + -0.014399227828157625, + 0.0051976763643324375, + 0.999882808828019, + 0.00022294472192557952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999884336155752, + 0.0005030512111261487, + 0.015200012460825467, + -0.01891632071737972 + ], + [ + -0.00041561378229796556, + 0.9999833703041077, + -0.00575506548601487, + 0.004294317180232848 + ], + [ + -0.015202654549883895, + 0.005748082417994738, + 0.9998679015158225, + 0.00019756979089199543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998744345568192, + 0.0005004483973607421, + 0.01583830681669244, + -0.019871218056046972 + ], + [ + -0.0004021083273865168, + 0.999980628490448, + -0.0062115780064923975, + 0.004891579524338239 + ], + [ + -0.015841108245954087, + 0.0062044295482337475, + 0.9998552508407993, + 0.00037711795761520735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998508303555667, + 0.000537351006641984, + 0.017264016790560822, + -0.021548820433524813 + ], + [ + -0.00042080974081389175, + 0.9999771118164062, + -0.006753454467265111, + 0.005230430862348858 + ], + [ + -0.017267250760588857, + 0.006745181977748871, + 0.9998281765057027, + 0.0003267276068306441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998224936952129, + 0.0009534736745990813, + 0.018816219942564234, + -0.023173586260442754 + ], + [ + -0.0008113461492822437, + 0.9999710917472839, + -0.0075596474057885174, + 0.005369266577555683 + ], + [ + -0.018822884576945805, + 0.007543039508163929, + 0.9997944007960162, + 0.0005250933258382682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997949707698112, + 0.0011162854498252273, + 0.020218152829108757, + -0.02455499290634991 + ], + [ + -0.0009384502481601138, + 0.9999608397483826, + -0.008803169907526266, + 0.005648656127480558 + ], + [ + -0.020227187765954915, + 0.00878239143639803, + 0.9997568607245173, + 0.000725024027749226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997613661398241, + 0.0010198316304013133, + 0.021821780665431736, + -0.026075780811223633 + ], + [ + -0.0008006049376562906, + 0.9999491572380066, + -0.010052610271647174, + 0.005813243940102948 + ], + [ + -0.021830922381704372, + 0.01003274042159319, + 0.9997113155932404, + 0.0007777384633979854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997210298984024, + 0.0007766605704091489, + 0.023606033514385515, + -0.02766296761941556 + ], + [ + -0.0005041346058177811, + 0.9999331831932068, + -0.011548518349249323, + 0.005933799748956628 + ], + [ + -0.023613425169831004, + 0.011533396318554878, + 0.9996546109376764, + 0.0007728750422940018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996789353913311, + 0.0008707321248948574, + 0.025323363534611024, + -0.02913960666418974 + ], + [ + -0.0005426895397998723, + 0.9999158978462219, + -0.01295813717403943, + 0.0061119739349695945 + ], + [ + -0.025332517224090106, + 0.012940234504640102, + 0.9995953462780446, + 0.0005054221186517422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996256595508821, + 0.0009543554042465987, + 0.02734383759093732, + -0.03077703082366737 + ], + [ + -0.0005649864431905661, + 0.9998983740806582, + -0.014243923380771838, + 0.0065880306095830446 + ], + [ + -0.02735465218817679, + 0.014223141595721248, + 0.999524598452624, + 0.00020214291651558369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9995620110691146, + 0.0009250862058252096, + 0.029578874537217616, + -0.03235988117423899 + ], + [ + -0.00047282505016833397, + 0.9998829364776611, + -0.015293346136006348, + 0.0073137568007577754 + ], + [ + -0.029589559395072053, + 0.015272662043571472, + 0.9994454308012501, + 0.0002646015169029503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994867274964983, + 0.0009937994182109835, + 0.03202007606170649, + -0.034269344005686125 + ], + [ + -0.0004902906284946347, + 0.9998762011528017, + -0.01572879941312253, + 0.00767684847468503 + ], + [ + -0.03203174323901697, + 0.015705026686191562, + 0.999363478756278, + -4.748351307411625e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994054510712679, + 0.0008153708768077197, + 0.03446861948229983, + -0.03609668762340791 + ], + [ + -0.00025643896538526907, + 0.9998684525489809, + -0.016216985556293306, + 0.007953428302809347 + ], + [ + -0.03447730934318985, + 0.016198504716157917, + 0.9992742230200742, + -0.0002507768475104649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993493589777236, + 0.0009345848229713738, + 0.03605495673160031, + -0.03643160858262543 + ], + [ + -0.0003076097475967785, + 0.9998487234115601, + -0.0173910566858874, + 0.008909759853696174 + ], + [ + -0.036065756484942195, + 0.017368651926517487, + 0.999198482715246, + 0.00025489779990993996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992528231549312, + 0.0008287678356282413, + 0.03864046795312544, + -0.03808273954525154 + ], + [ + -0.00011327360785436738, + 0.999828577041626, + -0.0185152202779977, + 0.009418564828229755 + ], + [ + -0.03864919050725498, + 0.018497008830308914, + 0.9990816582646654, + 0.0003507645461839227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991387188517832, + 0.0006885568145662547, + 0.04148912327663046, + -0.03982419522154871 + ], + [ + 0.00012775061397163613, + 0.9998065233230593, + -0.0196693534440359, + 0.00997136702548661 + ], + [ + -0.041494639968236935, + 0.01965771429240704, + 0.9989453408925547, + 0.0003395121498809793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990126956421365, + 0.00027616453007794917, + 0.0444242963632716, + -0.04132536273570319 + ], + [ + 0.0006347515159456673, + 0.9997898936271667, + -0.020489494091527685, + 0.01047211140088427 + ], + [ + -0.044420621878075106, + 0.020497461780905724, + 0.9988026410600005, + 0.00021231231457447593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9988898795748241, + -0.000360245758201927, + 0.047104857155894096, + -0.04265502777658364 + ], + [ + 0.0013336255434878794, + 0.9997861981391909, + -0.020634311799238726, + 0.01089936213558359 + ], + [ + -0.04708735410420416, + 0.020674226805567745, + 0.9986768311785373, + 0.000202849214850598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9987581231358675, + -0.000709950749296695, + 0.049816444587684784, + -0.044267283934161746 + ], + [ + 0.0017254942846226839, + 0.9997915029525757, + -0.02034566594099307, + 0.011461113993756426 + ], + [ + -0.04979161572960643, + 0.02040635608136654, + 0.9985511660261944, + -4.0378637608113645e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986258780618072, + -0.0013528461568057537, + 0.05238866466923081, + -0.04601851504661111 + ], + [ + 0.0023903000747642557, + 0.9998021721839905, + -0.019745435982504007, + 0.011708636696459317 + ], + [ + -0.052351588138490696, + 0.019843528047204018, + 0.9984315600318162, + -6.0068889943001164e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984973677089454, + -0.0016329752979800105, + 0.05477566954255965, + -0.04774336335141092 + ], + [ + 0.002695041194318127, + 0.9998096823692322, + -0.019321113768380308, + 0.012005635589816356 + ], + [ + -0.054733693434078884, + 0.019439702853560448, + 0.9983117120028877, + 0.0002565755653949793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983701772263319, + -0.0021301365923136473, + 0.05702982219450244, + -0.04969226062476835 + ], + [ + 0.0032412058762422476, + 0.9998065829277039, + -0.01939684721545499, + 0.012429817801999409 + ], + [ + -0.05697747576754618, + 0.019550081342458725, + 0.9981840132161542, + 0.0004259976293562624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982391720699005, + -0.002467246726155281, + 0.05926578978281218, + -0.051658101037212203 + ], + [ + 0.003647071129447639, + 0.9997971653938293, + -0.019807430827167162, + 0.013187481159038365 + ], + [ + -0.059204899210720946, + 0.01998869888484478, + 0.9980457033064358, + 0.0005415913415364503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9980943093006771, + -0.0028400297742336993, + 0.06164179508451484, + -0.0536259333275001 + ], + [ + 0.004112985985407127, + 0.9997807145118716, + -0.020533808245702893, + 0.014320359151903245 + ], + [ + -0.061569960916332135, + 0.02074820920825005, + 0.9978871077545184, + 0.000853202913836483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9979326298831859, + -0.0029583810828626165, + 0.06420038692986975, + -0.05560950817180317 + ], + [ + 0.00433201546502469, + 0.9997644424438479, + -0.02126740458550972, + 0.015431722446968525 + ], + [ + -0.06412234685180974, + 0.02150155417621136, + 0.9977103612515406, + 0.0009661092163645848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9977842260232304, + -0.0031880491878837347, + 0.06645618682254371, + -0.0571774453846269 + ], + [ + 0.004622856758107315, + 0.9997592568397522, + -0.02144769452754642, + 0.0158972409418252 + ], + [ + -0.06637181481950809, + 0.021707389503717422, + 0.9975587877612723, + 0.0011874992874860747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9976246759748217, + -0.0034013534896075734, + 0.06880023143064516, + -0.058889908134348495 + ], + [ + 0.004911440201905412, + 0.9997504949569704, + -0.021791626693025968, + 0.016475524747164648 + ], + [ + -0.0687089422090063, + 0.022077770903706554, + 0.9973924148525655, + 0.0014901468066667294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.997461660489001, + -0.0038147722370922574, + 0.07110334578806335, + -0.0609549938314191 + ], + [ + 0.005411387387142268, + 0.9997372031211855, + -0.02227577085201123, + 0.017150387010215682 + ], + [ + -0.07099968489277743, + 0.022603996098041538, + 0.9972201961989167, + 0.0014243921853245214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9972986600846613, + -0.004257365129888058, + 0.07332979714945145, + -0.06315449966361755 + ], + [ + 0.005922763559366709, + 0.9997290968894958, + -0.022508614256273683, + 0.01735859471520535 + ], + [ + -0.07321410697335036, + 0.02288212440907955, + 0.9970537378441396, + 0.002074498784836145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9971535186544737, + -0.004344628192484379, + 0.07527277941246259, + -0.06515330877053482 + ], + [ + 0.006100423641080213, + 0.9997142553329468, + -0.0231115752579501, + 0.01794488571325678 + ], + [ + -0.07515086037155082, + 0.023504985496401787, + 0.9968951189256154, + 0.0026823576119250816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970436579885714, + -0.004273205995559693, + 0.07671802670636545, + -0.06675666230675364 + ], + [ + 0.0061042446205989065, + 0.9997016787528994, + -0.023648518373392664, + 0.018488562582912434 + ], + [ + -0.07659408706425522, + 0.024046910926699645, + 0.9967723321840845, + 0.0031022962337901305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9969275970156424, + -0.004034793470054865, + 0.07822422388365682, + -0.06837729297001074 + ], + [ + 0.006005910788398738, + 0.9996699094772339, + -0.024979433556029728, + 0.019930017518857854 + ], + [ + -0.07809761901489354, + 0.025372494012117386, + 0.9966227872321484, + 0.0037733478920058752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9968098414765163, + -0.003648292040452361, + 0.07972964951269551, + -0.07002770826831875 + ], + [ + 0.005776373289965689, + 0.999632716178894, + -0.026476894288574252, + 0.02160608299047151 + ], + [ + -0.07960377441494221, + 0.02685297653079033, + 0.9964648374555674, + 0.004380851657244288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9966985644688685, + -0.00383543292991817, + 0.08109995236285987, + -0.07163356703286133 + ], + [ + 0.006025231307201522, + 0.9996233582496643, + -0.026773770313318592, + 0.02191257436992125 + ], + [ + -0.08096671737544353, + 0.027174023911356926, + 0.9963462781221429, + 0.004828732231505222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9965796901914317, + -0.004099968355149031, + 0.08253555873783927, + -0.07328116968240506 + ], + [ + 0.006311875304583128, + 0.999627411365509, + -0.026556384279210938, + 0.02161239765776037 + ], + [ + -0.08239592335294843, + 0.026986505836248398, + 0.9962342343468465, + 0.005261582104366924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9964660367897671, + -0.004152627661824227, + 0.08389364515679963, + -0.07488084708115292 + ], + [ + 0.006435773319126928, + 0.9996157288551333, + -0.026962680641474116, + 0.02200251310517378 + ], + [ + -0.08374944446688211, + 0.02740731835365296, + 0.9961098722153587, + 0.005631646963691728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9963300980455522, + -0.003944906406104565, + 0.08550325346842436, + -0.07689952379681987 + ], + [ + 0.006350232517737271, + 0.9995911717414856, + -0.027877697634679337, + 0.02259656360861995 + ], + [ + -0.08535832136221584, + 0.02831835299730301, + 0.9959478116893088, + 0.006408961958755151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9962077016979283, + -0.0032675720285624274, + 0.08694530805472757, + -0.07876554352469876 + ], + [ + 0.005852794454425042, + 0.9995477795600893, + -0.02949560778589284, + 0.023774985367282796 + ], + [ + -0.08680961057106903, + 0.029892627149820335, + 0.9957763401880743, + 0.007310155065484422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9959909505377121, + -0.002861427143216133, + 0.08940856673892252, + -0.08198009112242559 + ], + [ + 0.005615787797342909, + 0.9995168447494507, + -0.030570102756832973, + 0.024284976001699335 + ], + [ + -0.08927789312300888, + 0.03094964474439621, + 0.9955257610957283, + 0.007783202854562693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9958130219190422, + -0.0023017833009362225, + 0.09138426420141674, + -0.08423736253573365 + ], + [ + 0.005266188149078325, + 0.999467194080353, + -0.032211036526285715, + 0.025377519667593967 + ], + [ + -0.0912614327210241, + 0.032557416707277305, + 0.9952946062135338, + 0.008486179651003865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9956744019295227, + -0.0019446497317403555, + 0.09289075328517016, + -0.08585826183932982 + ], + [ + 0.005102042003684777, + 0.9994167685508728, + -0.033765009919982644, + 0.026452584209135585 + ], + [ + -0.09277091631145903, + 0.03409288823604584, + 0.9951036092483655, + 0.009307604951253275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9955325259031086, + -0.001641829265281558, + 0.09440482914804503, + -0.08748507958452388 + ], + [ + 0.0050143237665676455, + 0.9993571639060974, + -0.03549763980864661, + 0.02772672607457267 + ], + [ + -0.09428586206044799, + 0.03581243008375168, + 0.9949008248932699, + 0.009948021249598232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9953936976600661, + -0.0011024021077901125, + 0.0958651834541899, + -0.08880170329204636 + ], + [ + 0.004783526144066166, + 0.9992595314979553, + -0.03817763713044864, + 0.02991241019350072 + ], + [ + -0.09575211128147895, + 0.03846035152673721, + 0.9946619099495111, + 0.010846016646178226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9953170536136476, + -0.0002417459909338504, + 0.09666382913188777, + -0.08915582415025428 + ], + [ + 0.004357751011447189, + 0.9990924000740051, + -0.04237176843282353, + 0.033576292112699954 + ], + [ + -0.09656585224932952, + 0.04259457811713219, + 0.9944147476073837, + 0.011992656630253628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9952166639139641, + 0.0002510111080482602, + 0.09769222985432878, + -0.08983453452589008 + ], + [ + 0.004296540977242089, + 0.9989166259765625, + -0.04633662546091208, + 0.03656101493130882 + ], + [ + -0.09759802428602007, + 0.04653472080826759, + 0.9941373964074828, + 0.012953221117232428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9951010771795742, + 0.001443485263735056, + 0.09885239631357777, + -0.09054472948237469 + ], + [ + 0.0035822556661635977, + 0.9987103343009949, + -0.050644499711826364, + 0.03960796148827763 + ], + [ + -0.09879801303383155, + 0.05075050890445709, + 0.9938125540100499, + 0.014418505197811045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.994981426441982, + 0.0023793992586433887, + 0.10003148845705312, + -0.09134216370455281 + ], + [ + 0.003189735899446789, + 0.9984548687934875, + -0.05547703953474077, + 0.04324624146701084 + ], + [ + -0.10000892999422997, + 0.05551769956946373, + 0.9934364674386326, + 0.015522343020577423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9948648311381912, + 0.004298734944313765, + 0.10112103643177846, + -0.09165650654838335 + ], + [ + 0.0020844467721160384, + 0.9980155229568481, + -0.06293395940500196, + 0.05012993946079103 + ], + [ + -0.10119090059073868, + 0.06282156705856323, + 0.992881586625358, + 0.017778441918232094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9948724503562651, + 0.005073931999504566, + 0.10101008895730412, + -0.09063927486148815 + ], + [ + 0.0017993704298991883, + 0.9976946711540222, + -0.06783856209049195, + 0.05432006094056353 + ], + [ + -0.10112143940520574, + 0.06767246872186661, + 0.9925698358778818, + 0.018834292189001428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9944341533185188, + 0.004383104387670755, + 0.10526894261128243, + -0.09626695595880588 + ], + [ + 0.002502892635068533, + 0.9978695511817932, + -0.06519233612315814, + 0.04997369011088163 + ], + [ + -0.10533041804002699, + 0.06509296596050262, + 0.9923045809979292, + 0.018105670882614437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9945212726253516, + 0.006276203319430351, + 0.10434553824487053, + -0.09441539986338629 + ], + [ + 0.0015186345211239045, + 0.9972231984138489, + -0.074455413034557, + 0.05951192633056788 + ], + [ + -0.10452309209151062, + 0.07420595735311508, + 0.9917501749453874, + 0.021322631026257248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950478629723576, + 0.013463468290865421, + 0.0984808616941051, + -0.08595207731562157 + ], + [ + -0.003995100464575308, + 0.995400607585907, + -0.09571634376941884, + 0.08143447607771913 + ], + [ + -0.09931658582532663, + 0.09484890848398209, + 0.9905250616254907, + 0.030279390500662473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9940509807262493, + 0.0071065356023609656, + 0.10868382778714653, + -0.09969109571294532 + ], + [ + 0.0012497088489776403, + 0.9970591664314272, + -0.07662511527457555, + 0.059291779508385795 + ], + [ + -0.10890874353747357, + 0.07630509138107301, + 0.9911187460740174, + 0.02174366973644827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9936704941498584, + 0.00595441646873951, + 0.11217622410528925, + -0.10419291568977304 + ], + [ + 0.0021070889857222525, + 0.9974305033683777, + -0.07160937512793672, + 0.050668754354809505 + ], + [ + -0.11231438127210627, + 0.0713924840092659, + 0.9911047338778488, + 0.02076948028145561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9932751307085245, + 0.005955101922154427, + 0.11562458783758353, + -0.1088764243687936 + ], + [ + 0.002562822210753318, + 0.9973006844520569, + -0.07338071242556234, + 0.05018982265458704 + ], + [ + -0.11574947288792391, + 0.0731835663318634, + 0.9905787383609505, + 0.020694073545879196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9930414215843971, + 0.006376426201313734, + 0.11759287828581462, + -0.11181885608269825 + ], + [ + 0.002436115106388818, + 0.9972071647644043, + -0.07464551487676806, + 0.04870722625032076 + ], + [ + -0.117740430463447, + 0.07441255450248718, + 0.9902524856932772, + 0.021256530672729278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9929372632861965, + 0.006418973207473757, + 0.11846683674286143, + -0.1133825378201972 + ], + [ + 0.00269790718380382, + 0.9970554113388064, + -0.07663684794155669, + 0.047605391099499725 + ], + [ + -0.11860993065752268, + 0.07641519606113435, + 0.9899961604982489, + 0.021803818475884848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9927789319899425, + 0.006868094205856325, + 0.11976140786842168, + -0.11523896589050502 + ], + [ + 0.002721168311955538, + 0.9968133568763735, + -0.07972290257584207, + 0.04676352799977099 + ], + [ + -0.11992731738114717, + 0.07947310805320741, + 0.9895966185803804, + 0.022565674399434365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925703757114186, + 0.0070471568033099174, + 0.12146777912926632, + -0.11757484566207788 + ], + [ + 0.0029481866498139, + 0.9966351389884949, + -0.08191248416941606, + 0.04406738677632571 + ], + [ + -0.12163631075029897, + 0.08166200667619705, + 0.9892097569811327, + 0.022470665195523952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9922858623711277, + 0.007975968532264233, + 0.12371421877722108, + -0.12043233946915714 + ], + [ + 0.0027489821616272234, + 0.9962671995162964, + -0.08627926743954795, + 0.04289240950017224 + ], + [ + -0.12394057418511945, + 0.08595378696918488, + 0.9885599021207125, + 0.02281593823694003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9921000270478545, + 0.008404552936553955, + 0.1251673222408328, + -0.12207652701313007 + ], + [ + 0.0029789416436305544, + 0.9958935976028442, + -0.09048247554389603, + 0.04049781774912957 + ], + [ + -0.12541379782965212, + 0.09014053642749786, + 0.9880010168739233, + 0.0239481020323064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9917882684859203, + 0.009213109500706196, + 0.1275583377709699, + -0.12504257023711918 + ], + [ + 0.0029688055750868073, + 0.9954745173454285, + -0.09498275250913371, + 0.037638292808999024 + ], + [ + -0.12785615607575238, + 0.0945814698934555, + 0.9872725524096451, + 0.0239223200131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9915695444337248, + 0.009413432329893112, + 0.12923314894787508, + -0.12693445203817103 + ], + [ + 0.0036472639971439316, + 0.9949347972869873, + -0.10045617442319979, + 0.03512499288759297 + ], + [ + -0.12952419678997676, + 0.10008063167333603, + 0.986512737572176, + 0.02453991699167227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9912235545407538, + 0.010448411107063295, + 0.13178294973113197, + -0.12999461507102583 + ], + [ + 0.0036300219576593756, + 0.9943445324897768, + -0.10614031953844652, + 0.03227358780163915 + ], + [ + -0.13214665276895896, + 0.10568715631961825, + 0.9855797734900779, + 0.024960651716371986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9909643635545196, + 0.010755124501883985, + 0.133693557616828, + -0.13237961183560124 + ], + [ + 0.004379519498194608, + 0.9936536550521853, + -0.11239746674946505, + 0.02982521714216524 + ], + [ + -0.13405394047245914, + 0.11196739226579669, + 0.9846282646812179, + 0.025147837058792533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9906830231122232, + 0.01173768937587738, + 0.1356810733962611, + -0.13415571522302605 + ], + [ + 0.004488123916727182, + 0.9929239153862, + -0.11866754592071495, + 0.027027439455548023 + ], + [ + -0.13611386558571606, + 0.11817087978124619, + 0.983620206492559, + 0.026224713312264922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9903098393977473, + 0.01284224446862936, + 0.13828054340127227, + -0.13687243445821184 + ], + [ + 0.004606478455347343, + 0.9921296834945679, + -0.1251297786615682, + 0.023918734915215446 + ], + [ + -0.13879918221148688, + 0.12455423176288605, + 0.9824566509879102, + 0.026815244471773785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9899883134481021, + 0.013437540270388126, + 0.14050831883838452, + -0.1390656225146895 + ], + [ + 0.005139370486654305, + 0.9913663864135742, + -0.13102030546187907, + 0.020097383469641492 + ], + [ + -0.1410558069953434, + 0.1304306834936142, + 0.9813720456429698, + 0.027357233634823404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9896350826606669, + 0.014365378767251972, + 0.14288473482363903, + -0.14131149251265523 + ], + [ + 0.005693930562438651, + 0.9902763962745669, + -0.13899741223879483, + 0.01880853876060249 + ], + [ + -0.14349212244830412, + 0.13837029039859775, + 0.979930418494155, + 0.028326708240653323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9893296015986833, + 0.014735107310116291, + 0.1449477695074143, + -0.14305821396216534 + ], + [ + 0.006542212196009017, + 0.9893760681152344, + -0.14523139856782924, + 0.015830601857774924 + ], + [ + -0.1455478569570206, + 0.14462999999523163, + 0.9787226410632665, + 0.029140891455543553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9889290988732448, + 0.015337885357439518, + 0.1475940014051143, + -0.14509381744565553 + ], + [ + 0.0072020104422775705, + 0.9885103702545166, + -0.15098131641563264, + 0.013299774755954296 + ], + [ + -0.14821393799496724, + 0.15037278831005096, + 0.9774562230936148, + 0.029473766337045675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9884629511004379, + 0.015444952994585037, + 0.15067318618666584, + -0.14726421288419222 + ], + [ + 0.008453698442168596, + 0.9876108169555664, + -0.15669523793278053, + 0.011429977893395638 + ], + [ + -0.151226621929614, + 0.15616117417812347, + 0.9760861526363894, + 0.030181797309084785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.988026284593272, + 0.015571298077702526, + 0.15349793822287155, + -0.14872343925928355 + ], + [ + 0.0095161044082939, + 0.9868494272232058, + -0.16136169847991685, + 0.008774390552270948 + ], + [ + -0.1539919669407861, + 0.16089029610157016, + 0.9748850281096635, + 0.03069221497648416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9875397203072327, + 0.015573395416140556, + 0.1565973320744102, + -0.15020374780109763 + ], + [ + 0.010813502684810322, + 0.9860241413116455, + -0.16625128028227432, + 0.005996638139747587 + ], + [ + -0.15699785310412162, + 0.16587311029434204, + 0.9735696334696039, + 0.03139447153398878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9870664610226975, + 0.01579897478222847, + 0.15953107257217378, + -0.15133210460944652 + ], + [ + 0.011948237491264271, + 0.9851139187812805, + -0.17148693892416117, + 0.002989766338670745 + ], + [ + -0.1598656020411285, + 0.17117512226104736, + 0.9721841736419952, + 0.03234012455717496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9864275231596632, + 0.016361400485038757, + 0.16338003614041804, + -0.15355787897167222 + ], + [ + 0.012968351421607212, + 0.9841516017913818, + -0.17685415826631523, + -0.0005583929091733434 + ], + [ + -0.16368430950774537, + 0.17657257616519928, + 0.9705820647317432, + 0.03317128964788725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9858058433541543, + 0.016970030963420868, + 0.1670294944040272, + -0.155326877940208 + ], + [ + 0.014099845308524126, + 0.982995331287384, + -0.18308844752069212, + -0.0029222512535813762 + ], + [ + -0.16729622687561332, + 0.18284474313259125, + 0.968803256810484, + 0.034459631449303724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9852715321526009, + 0.01748301088809967, + 0.1701010008707987, + -0.15683286863186535 + ], + [ + 0.015117850608239256, + 0.981958270072937, + -0.18849257591215168, + -0.006162464450706888 + ], + [ + -0.1703275051353465, + 0.18828794360160828, + 0.9672312270330852, + 0.03506848666500416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9846196990307038, + 0.018582586199045185, + 0.17372020164786148, + -0.15917295356171418 + ], + [ + 0.01589808108236008, + 0.9806725978851321, + -0.1950089597987441, + -0.007777866835649993 + ], + [ + -0.17398641185900865, + 0.19477149844169622, + 0.965294148991312, + 0.035970359076472336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9841572521824086, + 0.01906079612672329, + 0.17627026492672562, + -0.1600587193009705 + ], + [ + 0.01693529136862096, + 0.979552149772644, + -0.20047642858188533, + -0.010827176035833427 + ], + [ + -0.17648715306255547, + 0.20028552412986755, + 0.9637105179473057, + 0.036094176172658754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9835873061582274, + 0.020068388432264328, + 0.17931326370132025, + -0.1612785341399998 + ], + [ + 0.017675836057837607, + 0.9782982468605042, + -0.2064465181725042, + -0.01341873311272387 + ], + [ + -0.17956489835461362, + 0.20622767508029938, + 0.9618869808030708, + 0.03700457032401799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9830603624968205, + 0.02098757028579712, + 0.18207647527771145, + -0.16196725746830165 + ], + [ + 0.018468565843040925, + 0.9770225882530212, + -0.2123341141158928, + -0.015790488615429765 + ], + [ + -0.18234921233372103, + 0.21209995448589325, + 0.9600845991110235, + 0.03731390140203612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9823612615470391, + 0.021758431568741802, + 0.18572259593590973, + -0.163600635962858 + ], + [ + 0.019495874281306367, + 0.975876569747925, + -0.21745085254894747, + -0.019496171449351892 + ], + [ + -0.18597371366865703, + 0.2172361165285111, + 0.9582391308181889, + 0.03787859550850135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.981741008690129, + 0.02219223976135254, + 0.18892357949054708, + -0.16479280559245194 + ], + [ + 0.021056760125588533, + 0.9743892550468445, + -0.22387975897778462, + -0.021362198853066332 + ], + [ + -0.18905350805186708, + 0.22377006709575653, + 0.9561306379836869, + 0.03864848709797411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9811791248493198, + 0.02254362963140011, + 0.19177947968403167, + -0.16566002180847555 + ], + [ + 0.022593732030980133, + 0.9729372262954712, + -0.22996221940056286, + -0.022765387986552903 + ], + [ + -0.19177358350996182, + 0.2299671471118927, + 0.9541163731895308, + 0.03882897229718595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9806808250630918, + 0.021929867565631866, + 0.1943815620889292, + -0.16624906781557056 + ], + [ + 0.024489589060634764, + 0.9721141457557678, + -0.2332258475396846, + -0.027396712011932063 + ], + [ + -0.19407568317805476, + 0.23348045349121094, + 0.9527966650354517, + 0.03887767686073164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9799281484790293, + 0.022857923060655594, + 0.19803620742328226, + -0.16836584829473344 + ], + [ + 0.025775752394272322, + 0.9705377221107483, + -0.2395666077704116, + -0.026580126484851783 + ], + [ + -0.1976776087879943, + 0.2398626059293747, + 0.9504680562229542, + 0.039402645398961655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.979458101931264, + 0.022836510092020038, + 0.2003505910618667, + -0.16905033149003917 + ], + [ + 0.02708861071747069, + 0.969659745693207, + -0.2429531479728272, + -0.029060801567451555 + ], + [ + -0.19982009746909904, + 0.24338965117931372, + 0.9491224354876242, + 0.039876108489097645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9791743979458523, + 0.02265824563801289, + 0.20175253628743123, + -0.16904838248044501 + ], + [ + 0.028203600542893895, + 0.9689354896545412, + -0.2457001277494312, + -0.031648959657787405 + ], + [ + -0.20105232548537433, + 0.24627342820167547, + 0.9481177990168697, + 0.039706609546495644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790685738046428, + 0.02221402153372765, + 0.20231469622992176, + -0.16863857828979997 + ], + [ + 0.029094135121571444, + 0.9685425162315371, + -0.24714159676535732, + -0.036336825391703756 + ], + [ + -0.20144039913897044, + 0.24785475432872778, + 0.947623260018943, + 0.03916293572566607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9787938258450585, + 0.02297596074640751, + 0.2035552935455253, + -0.169818936618979 + ], + [ + 0.029642564224767052, + 0.967345118522644, + -0.25172347432117476, + -0.03745468251530361 + ], + [ + -0.2026918073799639, + 0.25241926312446594, + 0.9461503935015166, + 0.039649894007610445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9785495633927979, + 0.02410665154457093, + 0.20459620083086433, + -0.17105520723074705 + ], + [ + 0.030019916696447473, + 0.9658434987068178, + -0.2573812792748529, + -0.03797602232382145 + ], + [ + -0.2038125176615697, + 0.2580022811889649, + 0.9444020979962476, + 0.03959189002648965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9783438816436918, + 0.025127019733190536, + 0.20545517017652265, + -0.17206457648669196 + ], + [ + 0.030411000422806117, + 0.964383065700531, + -0.2627555646100551, + -0.0388449469370499 + ], + [ + -0.20473975563705843, + 0.2633133828639984, + 0.9427341750576957, + 0.03933290525101651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9781019995338653, + 0.026491761207580566, + 0.2064332133480572, + -0.17313234919679038 + ], + [ + 0.030550139599697834, + 0.9628472924232483, + -0.2683127918672223, + -0.039386111187222655 + ], + [ + -0.20587174247586154, + 0.2687438428401947, + 0.9409535686810412, + 0.038580429582900894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9778862329377795, + 0.027361121028661735, + 0.2073399622582126, + -0.17416498770073988 + ], + [ + 0.031002174986327385, + 0.9614867568016054, + -0.2730971662824769, + -0.04012601176700042 + ], + [ + -0.2068268756420594, + 0.27348592877388006, + 0.9393764237453521, + 0.03756653693158453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9776994817079521, + 0.02765067294239998, + 0.2081807069483351, + -0.17524071194120605 + ], + [ + 0.03193980799941437, + 0.960184633731842, + -0.2775342936141208, + -0.040526334985543006 + ], + [ + -0.20756592138230034, + 0.2779943645000458, + 0.9378888484450062, + 0.036984936026738156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9776319973158857, + 0.027790829539299018, + 0.20847860387447317, + -0.1762069965244521 + ], + [ + 0.03254248282562921, + 0.9593074321746828, + -0.2804821367665744, + -0.04138803634848859 + ], + [ + -0.2077899072235371, + 0.28099274635314947, + 0.9369452864998113, + 0.03561807709054342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9778846795121394, + 0.02732110023498535, + 0.20735254607396972, + -0.1749343452200831 + ], + [ + 0.03286785248468841, + 0.9590361714363098, + -0.28137050205069525, + -0.043575351412475885 + ], + [ + -0.20654593711085092, + 0.28196316957473755, + 0.9369287590100399, + 0.033774181734490545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9778191362258711, + 0.027253629639744766, + 0.2076704084873465, + -0.1754678067591824 + ], + [ + 0.03345967581492241, + 0.9584397077560427, + -0.28332623544838986, + -0.04362846297075962 + ], + [ + -0.20676123103595823, + 0.2839903831481934, + 0.9362687756377598, + 0.03236677063460906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9781578586525271, + 0.026886502280831337, + 0.20611731354091734, + -0.17284717932032892 + ], + [ + 0.03358677082335159, + 0.9581257700920105, + -0.28437115049890543, + -0.044206618703614836 + ], + [ + -0.20513204592021442, + 0.28508269786834717, + 0.9362951837956182, + 0.0314706738016355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9783051500808656, + 0.02632264979183674, + 0.20549002681827114, + -0.17175588492834373 + ], + [ + 0.03407682311950586, + 0.9579384326934814, + -0.28494333023449914, + -0.04471524603404291 + ], + [ + -0.2043472664127582, + 0.2857639491558075, + 0.936259157617551, + 0.03017049888947089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9786832323783226, + 0.025764308869838715, + 0.2037529990597702, + -0.16910547215767116 + ], + [ + 0.0343554880587987, + 0.957582414150238, + -0.2861042006820763, + -0.0439348885847179 + ], + [ + -0.20248156716156374, + 0.2870054244995117, + 0.9362847206042632, + 0.029521617821811157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9790762151352613, + 0.024666791781783104, + 0.20199337017214566, + -0.16647531849054456 + ], + [ + 0.03514693849088268, + 0.9572102427482605, + -0.2872511978603106, + -0.043014971604848413 + ], + [ + -0.20043568923089045, + 0.2883402407169342, + 0.936314830778554, + 0.029011444779329237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9797623623587646, + 0.02333184704184532, + 0.1987998359940972, + -0.1616363426413878 + ], + [ + 0.03574628712966002, + 0.9568221569061279, + -0.2884675245696248, + -0.04239836246003615 + ], + [ + -0.19694656641898362, + 0.28973597288131714, + 0.9366243009232297, + 0.028906891605509806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9796685714083453, + 0.021438565105199817, + 0.1994740197566823, + -0.16285984876955223 + ], + [ + 0.037592598967040154, + 0.9570468068122866, + -0.28748604507098535, + -0.044130258886677674 + ], + [ + -0.1970692652506622, + 0.28913980722427374, + 0.9367827460089972, + 0.026959287613206335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9802680568274588, + 0.02055411785840988, + 0.19660129958398603, + -0.1586184363679113 + ], + [ + 0.03787625693069088, + 0.9566200971603394, + -0.2888656850203821, + -0.042755009797177876 + ], + [ + -0.19401013709738607, + 0.2906123399734497, + 0.9369656359894502, + 0.02663606282777736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9802153195947866, + 0.01957114413380623, + 0.19696411481640994, + -0.15903569993175726 + ], + [ + 0.038920735045143345, + 0.956614077091217, + -0.2887466788146579, + -0.043207869578581706 + ], + [ + -0.19406975429610962, + 0.29069992899894714, + 0.9369261123186429, + 0.025415682153084665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9791458970415002, + 0.01896898448467255, + 0.20227069246967339, + -0.16670793523139096 + ], + [ + 0.04101745327610947, + 0.9566694498062136, + -0.2882727083279834, + -0.04395684711934944 + ], + [ + -0.19897443473674786, + 0.29055765271186834, + 0.9359409387954152, + 0.023277890970864978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9804540719775705, + 0.01813526451587677, + 0.19591035159126882, + -0.15743027094367745 + ], + [ + 0.040082660465624094, + 0.9564486145973206, + -0.2891356000010848, + -0.04394351642840307 + ], + [ + -0.1926217467673397, + 0.2913368046283722, + 0.9370270946135308, + 0.02229738847670751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9802451389934594, + 0.017700264230370525, + 0.196992857159383, + -0.15846316414798584 + ], + [ + 0.04102342674087349, + 0.956133306026459, + -0.29004516848371376, + -0.04401252057645673 + ], + [ + -0.19348530160906938, + 0.29239666461944586, + 0.936518864264869, + 0.022289528739444685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9800924481348555, + 0.016854496672749523, + 0.19782505104852993, + -0.15991357006521706 + ], + [ + 0.04230897957084765, + 0.955773711204529, + -0.2910440196284793, + -0.04404122554477833 + ], + [ + -0.19398137455526446, + 0.29361984133720404, + 0.9360334537318927, + 0.020546482185311406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9799866665158294, + 0.016039585694670677, + 0.19841584515767896, + -0.1607107473471297 + ], + [ + 0.043465255113757754, + 0.9554562568664551, + -0.2919146532236258, + -0.04446104582477946 + ], + [ + -0.19425984451134448, + 0.2946966588497162, + 0.9356371942136195, + 0.019464199525813988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9799502586540421, + 0.015247568488121036, + 0.19865804258750952, + -0.1609711054997548 + ], + [ + 0.04450783614497417, + 0.95511931180954, + -0.29285858160765976, + -0.04486805186827742 + ], + [ + -0.19420751234293068, + 0.29582867026329046, + 0.9352907771814841, + 0.01832508291139642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9800122875159644, + 0.015149546787142754, + 0.19835935750482092, + -0.15995697108266602 + ], + [ + 0.04476601928799684, + 0.9547296166419983, + -0.2940873104268564, + -0.04480439005302465 + ], + [ + -0.1938348431469234, + 0.29708895087242126, + 0.9349685591967765, + 0.017746382300842557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9799685501029055, + 0.01469515636563301, + 0.19860926503969106, + -0.1595733897829258 + ], + [ + 0.04551195698155209, + 0.9543582201004028, + -0.2951762056219844, + -0.04486990401464463 + ], + [ + -0.1938820529050576, + 0.2983025312423706, + 0.934572286355379, + 0.016605210230651903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.979944080876755, + 0.014255501329898834, + 0.19876203240318457, + -0.15915382456789895 + ], + [ + 0.04605185660222543, + 0.9542365074157715, + -0.29548583152075114, + -0.04542571326967102 + ], + [ + -0.19387829027849798, + 0.29871296882629395, + 0.9344419418607419, + 0.01537867185963182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9798697525514056, + 0.013773739337921146, + 0.19916203957789463, + -0.15888363216151707 + ], + [ + 0.04672809374537788, + 0.9540805220603945, + -0.2958832024947614, + -0.04531285219727035 + ], + [ + -0.19409203818472232, + 0.2992334961891175, + 0.9342310174374282, + 0.014701586589754373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.979836872087588, + 0.013498718850314617, + 0.19934264502048213, + -0.15832311468994323 + ], + [ + 0.047075285170951234, + 0.9540290236473083, + -0.29599421403506615, + -0.04547093286617469 + ], + [ + -0.1941742100523618, + 0.2994101643562317, + 0.9341573490643886, + 0.013850015288293022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9797483179555698, + 0.013105448335409164, + 0.19980357181794065, + -0.15840212976784704 + ], + [ + 0.04761021556463182, + 0.9539903402328491, + -0.2960332460065398, + -0.04580876549125699 + ], + [ + -0.1944903245163915, + 0.29955077171325684, + 0.9340464705080688, + 0.013256071247909194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9797024712825197, + 0.012848930433392525, + 0.20004506441121328, + -0.15893165505724696 + ], + [ + 0.04794742386209412, + 0.9539555907249451, + -0.29609087993912264, + -0.04629605449036441 + ], + [ + -0.19463855436219926, + 0.29967260360717773, + 0.9339765532935775, + 0.012855500392398685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9797621341500472, + 0.012294429354369644, + 0.1997875429236175, + -0.1590434230760012 + ], + [ + 0.048369588761256445, + 0.9539898633956911, + -0.2959116105728551, + -0.0471776549297193 + ], + [ + -0.19423335478453688, + 0.2995866239070893, + 0.9340884603937378, + 0.012187517535058725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9798250999648135, + 0.011615701019763947, + 0.19951912138707906, + -0.15930801982693849 + ], + [ + 0.04896567851207599, + 0.9539309144020081, + -0.296003594894134, + -0.04804768281283914 + ], + [ + -0.19376574836124155, + 0.2998013496398926, + 0.934116688765854, + 0.011715493343540703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9798865097403455, + 0.01100757997483015, + 0.19925189869842505, + -0.1597489006926596 + ], + [ + 0.04953494248673833, + 0.9538103938102722, + -0.2962971341851586, + -0.049040080676735036 + ], + [ + -0.19331004698603124, + 0.3002074658870697, + 0.9340806836643175, + 0.011355857673744179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9798915558401555, + 0.010259771719574928, + 0.19926693354885402, + -0.16060793001982077 + ], + [ + 0.0503726273954215, + 0.9536084532737732, + -0.2968054787436876, + -0.0500458947363267 + ], + [ + -0.19306779053964584, + 0.300874799489975, + 0.9339160702456106, + 0.011441388558822593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9799480575375856, + 0.009562669321894647, + 0.19902363481809307, + -0.16105364471769065 + ], + [ + 0.0511535000812582, + 0.9532966613769533, + -0.29767235311805085, + -0.05039601907725569 + ], + [ + -0.1925750990893199, + 0.30188420414924627, + 0.9336919962568032, + 0.011536486998507449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9801281484133542, + 0.009050115942955017, + 0.19815885859569965, + -0.16033293519779782 + ], + [ + 0.05146658495475813, + 0.9531480669975281, + -0.2980939108247072, + -0.05083974143235385 + ], + [ + -0.19157251163293196, + 0.30236876010894775, + 0.9337414443023292, + 0.01158542617985777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9802741566029367, + 0.008848156780004501, + 0.19744449630466462, + -0.15956351050447115 + ], + [ + 0.051563665085331625, + 0.9529503583908081, + -0.2987086661482614, + -0.0504621773354419 + ], + [ + -0.1907978112505368, + 0.302997350692749, + 0.9336962980985362, + 0.011639349219899009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9801977182304689, + 0.008388788439333439, + 0.19784352163180194, + -0.16020317903297254 + ], + [ + 0.052103489683260326, + 0.9529709815979004, + -0.2985490425813866, + -0.05065873115802027 + ], + [ + -0.19104359579860541, + 0.30294540524482727, + 0.9336628789729864, + 0.011858035621850904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9801888742842079, + 0.007891487330198288, + 0.19790778824045197, + -0.16028876198706496 + ], + [ + 0.052542426930552395, + 0.9530461430549622, + -0.29823209405917966, + -0.050559636573479824 + ], + [ + -0.1909687470279727, + 0.30272236466407776, + 0.9337505793250597, + 0.012459137049315543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9801434434997814, + 0.007440454326570034, + 0.19815004195020325, + -0.16064015330322287 + ], + [ + 0.052941405767568075, + 0.953201174736023, + -0.29766545209709133, + -0.050541445500521545 + ], + [ + -0.1910916195603517, + 0.302245169878006, + 0.9338799757184764, + 0.013292608260795789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9801540416732829, + 0.007206707261502743, + 0.19810637436091824, + -0.1606343891140257 + ], + [ + 0.05304218378523506, + 0.9533676505088806, + -0.2971138760557155, + -0.05023974347592523 + ], + [ + -0.19100941594309345, + 0.3017253875732422, + 0.9340648686495432, + 0.013942133600167193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9801768549749355, + 0.007215050049126148, + 0.19799309889771613, + -0.16074860432151497 + ], + [ + 0.05283734385057734, + 0.9536243677139282, + -0.29632542405462403, + -0.04996005607174762 + ], + [ + -0.19094905496880415, + 0.3009127378463745, + 0.9343393530531151, + 0.014530741040602604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9802212042661724, + 0.007200681138783693, + 0.19777393696123108, + -0.16089883846864195 + ], + [ + 0.05261777353193693, + 0.9538871645927429, + -0.2955176786591775, + -0.049561555305197 + ], + [ + -0.19078194681279073, + 0.3000791072845459, + 0.9346415333086694, + 0.014841787984976637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9802125111201068, + 0.0073445760644972324, + 0.19781175836324943, + -0.16163310106781154 + ], + [ + 0.05221907656351408, + 0.9543184041976929, + -0.2941931081128098, + -0.049664054871123436 + ], + [ + -0.1909361251063082, + 0.29870128631591797, + 0.9350513099890945, + 0.015189786847082706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9801417672411552, + 0.00758214620873332, + 0.19815290408511047, + -0.16261221518196384 + ], + [ + 0.051812827861615375, + 0.9547628164291382, + -0.2928196699466072, + -0.0496526167179636 + ], + [ + -0.19140923415605018, + 0.29727163910865784, + 0.9354101020640291, + 0.015797372494060557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9801791781686923, + 0.007875194773077967, + 0.19795641860619995, + -0.1627311476740496 + ], + [ + 0.05119278718840283, + 0.9552057981491091, + -0.2914810035973325, + -0.04946608223000445 + ], + [ + -0.19138459313189643, + 0.295837551355362, + 0.935869705281894, + 0.016034489735168612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9801271727895473, + 0.008488552644848824, + 0.19818835755130262, + -0.16341761759687495 + ], + [ + 0.050422178427607836, + 0.9556097388267517, + -0.2902889527616837, + -0.04917262591122901 + ], + [ + -0.1918548602686282, + 0.29451319575309753, + 0.9361910716304931, + 0.01682912439955943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9800792990056691, + 0.009077849797904493, + 0.19839899859828333, + -0.1638382268816683 + ], + [ + 0.04969800348889393, + 0.9559639096260073, + -0.28924582172912483, + -0.04898432227967823 + ], + [ + -0.19228800121523337, + 0.29334390163421636, + 0.9364692357064228, + 0.01753189996249447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9799523010756913, + 0.009452003985643387, + 0.1990079475443315, + -0.1649375963594823 + ], + [ + 0.04934680518948957, + 0.9562346339225769, + -0.2884098306230253, + -0.0487208499240049 + ], + [ + -0.1930243358209842, + 0.2924482524394989, + 0.9365978711496967, + 0.018101191235141218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9798119110279224, + 0.009715363383293152, + 0.19968542399519248, + -0.16631224333421493 + ], + [ + 0.04912319827196928, + 0.9564980268478394, + -0.28757341643847234, + -0.04869706948899254 + ], + [ + -0.19379258710726718, + 0.291577011346817, + 0.9367108808336057, + 0.018435843410400877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9796657614118129, + 0.009856334887444973, + 0.2003942403955401, + -0.1678434992634711 + ], + [ + 0.0490579005611607, + 0.9567082524299622, + -0.2868844036726745, + -0.04870627774813712 + ], + [ + -0.1945464465969901, + 0.2908817529678345, + 0.9367707640036808, + 0.01890309275796726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9796777889076381, + 0.009932444430887699, + 0.20033161122129745, + -0.16838402539622946 + ], + [ + 0.0488872621918242, + 0.9568285942077637, + -0.28651200288032075, + -0.04843363720559504 + ], + [ + -0.19452878037358406, + 0.2904830873012543, + 0.9368981554617243, + 0.019091264893400964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9794233867497143, + 0.010340643115341663, + 0.20155137089391142, + -0.17049298124587595 + ], + [ + 0.04879656273182373, + 0.9569211006164551, + -0.2862182183306581, + -0.047935841099478724 + ], + [ + -0.19582844237004604, + 0.2901638150215149, + 0.9367263356399341, + 0.019509230291776085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9792977944077872, + 0.010536699555814266, + 0.20215057063178796, + -0.1718202283804215 + ], + [ + 0.04868852485915059, + 0.957065999507904, + -0.28575176046649553, + -0.047511381081032346 + ], + [ + -0.19648231925831988, + 0.2896784543991089, + 0.9367396134749038, + 0.01954082537556834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9790707569147874, + 0.010891634970903398, + 0.20322854925940936, + -0.17356738804170496 + ], + [ + 0.04848824628853408, + 0.957329332828522, + -0.284902423502686, + -0.047554877153841685 + ], + [ + -0.19765970652761014, + 0.288793832063675, + 0.9367650450298043, + 0.020128385042566945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9787913166818943, + 0.011450154706835747, + 0.20453955970391166, + -0.17549786202528006 + ], + [ + 0.04822173941605494, + 0.9575045108795166, + -0.28435865277838535, + -0.047217841085895454 + ], + [ + -0.19910349463673122, + 0.288191020488739, + 0.9366449252740415, + 0.020499275988636455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9785052405516979, + 0.011858062818646431, + 0.20588077729810125, + -0.17744444288277297 + ], + [ + 0.04809192702475318, + 0.957697331905365, + -0.2837304157111698, + -0.04727629880274036 + ], + [ + -0.20053596790795203, + 0.28753289580345154, + 0.936541596605983, + 0.020981707542988195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9782224556332084, + 0.012128437869250774, + 0.20720467948508886, + -0.1793933735022569 + ], + [ + 0.04808561365004512, + 0.9578892588615417, + -0.2830830286447186, + -0.04735518507331502 + ], + [ + -0.20191247871671783, + 0.2868817150592804, + 0.9364455247347995, + 0.02135881767761453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9780277285622601, + 0.012183948419988155, + 0.20811845130455342, + -0.18101693046276526 + ], + [ + 0.04817243818489085, + 0.9580661058425903, + -0.28246898632517875, + -0.0471518106574334 + ], + [ + -0.20283282309228576, + 0.2862880825996399, + 0.9364282948282779, + 0.021631232779153662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9778446900627039, + 0.012012994848191738, + 0.2089865845340517, + -0.1826801289883346 + ], + [ + 0.04837548599960296, + 0.9583596587181091, + -0.28143663530787755, + -0.047461873147594646 + ], + [ + -0.20366522218059702, + 0.28531113266944885, + 0.9365458365977075, + 0.021927573294536047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9776958978386983, + 0.012110580690205097, + 0.20967615346230165, + -0.1852282770834453 + ], + [ + 0.048396244271397604, + 0.9584789872169495, + -0.28102645121900166, + -0.04725587880418433 + ], + [ + -0.20437358194472227, + 0.28490594029426575, + 0.9365148714082392, + 0.022462362954303722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9774709669067144, + 0.012454718351364136, + 0.21070204953618904, + -0.1869374525359065 + ], + [ + 0.048377525127455245, + 0.9584629535675049, + -0.2810841787396282, + -0.0463102520826944 + ], + [ + -0.20545094006035167, + 0.28494489192962646, + 0.9362672152629413, + 0.02220790808039732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9771631659317338, + 0.011867624707520008, + 0.212158782807824, + -0.18844379616146678 + ], + [ + 0.04927944405382327, + 0.9585614800453186, + -0.2805912839237764, + -0.0463566853228304 + ], + [ + -0.20669717361011014, + 0.28463855385780334, + 0.9360860779407388, + 0.0227297193254356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9768237484817869, + 0.011898798868060112, + 0.21371435122242605, + -0.1903377092610038 + ], + [ + 0.04968751642880133, + 0.9585740566253662, + -0.2804763725840315, + -0.04659869890426908 + ], + [ + -0.20819835151817886, + 0.28459489345550537, + 0.9357666229231102, + 0.022915976995702768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9764254208614258, + 0.011795263737440113, + 0.21553246394096942, + -0.1925048773476371 + ], + [ + 0.050237785093473465, + 0.9586682319641116, + -0.2800561654524854, + -0.04746501282996441 + ], + [ + -0.2099274652586899, + 0.2842818200588227, + 0.9354754749931751, + 0.022973780793972266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.976191961005354, + 0.012376344762742523, + 0.21655495146017517, + -0.19406837255653353 + ], + [ + 0.05013245074521803, + 0.958466172218323, + -0.2807657023065144, + -0.04698888287327699 + ], + [ + -0.21103545026032122, + 0.2849376797676087, + 0.9350265205107333, + 0.02334525668020278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9758673477149986, + 0.012780892662703994, + 0.21798976539231488, + -0.19612280934928555 + ], + [ + 0.05023089424851881, + 0.9583755731582644, + -0.2810571544085445, + -0.04676916244410251 + ], + [ + -0.2125082341144523, + 0.28522434830665594, + 0.9346054591572759, + 0.023645837884292132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9755516176070839, + 0.013170582242310047, + 0.219375424155205, + -0.19813902557413882 + ], + [ + 0.05019410548809604, + 0.9584664106369019, + -0.28075387466152824, + -0.04680742863302697 + ], + [ + -0.21396166597153116, + 0.2849012613296509, + 0.9343723617458493, + 0.023891406484029407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9751431068044072, + 0.013317734003067017, + 0.22117532099331463, + -0.20065927874634087 + ], + [ + 0.05046510677183014, + 0.9586091041564941, + -0.2802175209261173, + -0.04667614046226792 + ], + [ + -0.21575254873790994, + 0.28441381454467773, + 0.9341090227188281, + 0.02406293596250988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9746471664557227, + 0.01368729118257761, + 0.22332848953560683, + -0.2036746998304092 + ], + [ + 0.05067012300809113, + 0.9586939811706543, + -0.279890020109594, + -0.04624472562794185 + ], + [ + -0.21793460895651298, + 0.28411009907722473, + 0.9336948102137401, + 0.02436544070375669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9741646142321111, + 0.013676067814230922, + 0.22542452464456814, + -0.20630211041549545 + ], + [ + 0.05112156163313703, + 0.9589017629623415, + -0.2790948449225348, + -0.046591555942385524 + ], + [ + -0.2199769036129606, + 0.2834084033966065, + 0.9334290638603738, + 0.024673920243601103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9736175474010021, + 0.013848480768501759, + 0.22776544649378935, + -0.209517773168383 + ], + [ + 0.05158470442659831, + 0.9589590430259705, + -0.2788127048214611, + -0.046334399931416394 + ], + [ + -0.22227887390164236, + 0.28320616483688354, + 0.932945011983171, + 0.024799259822919122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.973120406917392, + 0.01372866798192263, + 0.22988730794524953, + -0.2124420301246866 + ], + [ + 0.052261258979382115, + 0.9590147137641909, + -0.2784951104243997, + -0.046166229163576974 + ], + [ + -0.22428868021838802, + 0.2830235064029694, + 0.9325193219043834, + 0.02496027348394024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9726839502758873, + 0.013748432509601116, + 0.23172603248452586, + -0.21455974660259786 + ], + [ + 0.052806582278034246, + 0.9589675068855286, + -0.27855486758029646, + -0.04594556891109272 + ], + [ + -0.22604741600285858, + 0.2831825017929077, + 0.9320462459857939, + 0.025465634073945056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9722278985344761, + 0.013619882985949516, + 0.23363954449356833, + -0.2167448096809572 + ], + [ + 0.05350829221778147, + 0.9589269757270813, + -0.27856040707215735, + -0.046141352890327544 + ], + [ + -0.22783721764552628, + 0.28332582116127014, + 0.9315667710158781, + 0.025734444594618332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.97168895808694, + 0.013129913248121738, + 0.23589864747092423, + -0.21952067415309848 + ], + [ + 0.05467377723798642, + 0.9588568210601807, + -0.2785756191316507, + -0.04630988651873965 + ], + [ + -0.2298507020193449, + 0.2835863530635834, + 0.9309927271099504, + 0.02582932360177962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9708048548362956, + 0.012918918393552303, + 0.23952258653285363, + -0.22448384447920508 + ], + [ + 0.05598124018656856, + 0.9587716460227966, + -0.27860901775795277, + -0.045805379383678395 + ], + [ + -0.2332467916610192, + 0.2838837802410126, + 0.930056951209982, + 0.026318101133791436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9702581570691936, + 0.012471792288124561, + 0.24175098131669426, + -0.22737302956223418 + ], + [ + 0.05696438377600494, + 0.9588639736175537, + -0.27809157437318266, + -0.04588186046654741 + ], + [ + -0.23527461738468455, + 0.2835918068885803, + 0.9296351862841894, + 0.02659584161507556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9698381000328563, + 0.012243223376572132, + 0.24344236236529462, + -0.22943374031389274 + ], + [ + 0.057624377254790256, + 0.9589112401008606, + -0.2777925743563855, + -0.04597029864433799 + ], + [ + -0.23684068496894756, + 0.28344202041625977, + 0.9292831118165605, + 0.026880001475003124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9694422191358184, + 0.012170713394880295, + 0.24501763786573436, + -0.23124089866370612 + ], + [ + 0.058183354306306986, + 0.9588640332221985, + -0.2778390114484301, + -0.04604461612033203 + ], + [ + -0.23832009162870837, + 0.28360480070114136, + 0.9288551124589943, + 0.02722820563072719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9689852730133879, + 0.012092404067516327, + 0.24682244636664738, + -0.23339763868012792 + ], + [ + 0.05884163232037411, + 0.9587841629981995, + -0.27797585751633114, + -0.046115744856472685 + ], + [ + -0.24001085539273576, + 0.283877968788147, + 0.9283362202995573, + 0.027621544293874815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9684741873344438, + 0.012219628319144249, + 0.24881410884489832, + -0.23581118693351394 + ], + [ + 0.059445698845723816, + 0.9586056470870972, + -0.27846262122914933, + -0.045994318694058435 + ], + [ + -0.24191731281200607, + 0.28447476029396057, + 0.9276583983583612, + 0.02797343127001483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9680742251895464, + 0.01232461910694838, + 0.25036062953840793, + -0.23769993011088647 + ], + [ + 0.05982085304165072, + 0.9585719108581545, + -0.27849850039535234, + -0.04656240006315599 + ], + [ + -0.24342104211124518, + 0.2845840156078339, + 0.9272314406205572, + 0.028002742232938915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9675985754586957, + 0.012797458097338676, + 0.25216894036434445, + -0.23983081600614514 + ], + [ + 0.06004676094995921, + 0.9583991169929504, + -0.2790440059215065, + -0.04651655317338273 + ], + [ + -0.2452495471842277, + 0.28514450788497925, + 0.9265771885614046, + 0.028411334420149502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9671244402572774, + 0.013290473259985447, + 0.2539560983046699, + -0.2418892068877626 + ], + [ + 0.0602087021732438, + 0.9582738876342773, + -0.27943892882012816, + -0.046279291503196 + ], + [ + -0.24707336546037387, + 0.2855425775051117, + 0.9259698655028077, + 0.028413337791320395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/orbit_right/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..12bf1eee454786656aaceea0ade937f79ab5435f --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/orbit_right/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999999270990594, + -7.29400126147084e-05, + -0.0011818877025702626, + 0.001162911956637205 + ], + [ + 7.223208794756477e-05, + 0.9999998211860657, + -0.0005990066594973891, + 0.0007016691808725236 + ], + [ + 0.0011819312468657275, + 0.0005989208584651351, + 0.999999151719228, + -4.09340017233398e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999970077271892, + 7.64142896514386e-06, + -0.002453401839597478, + 0.0023707558475639374 + ], + [ + -1.0498237692173104e-05, + 0.9999993443489075, + -0.0011644170014210662, + 0.0013857446312660875 + ], + [ + 0.002453391189537005, + 0.0011644393671303988, + 0.9999962924988622, + 1.0985284551439246e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999937452024359, + 7.649810140719637e-05, + -0.003543721972754608, + 0.003328671039765323 + ], + [ + -8.179836430005282e-05, + 0.9999988675117493, + -0.0014955580506929697, + 0.0017933045350429382 + ], + [ + 0.003543603518460088, + 0.0014958386309444904, + 0.9999926132094897, + 6.957387207980872e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999879297238243, + 1.2577570487337656e-05, + -0.004914097941903946, + 0.004396873770966655 + ], + [ + -2.270290245484887e-05, + 0.9999978542327883, + -0.0020604157761606417, + 0.0020957308134529518 + ], + [ + 0.004914061515789389, + 0.0020605023019015793, + 0.9999857841291743, + 0.0001147136934485049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999786166572292, + 0.00019054125004913663, + -0.006537649270076011, + 0.005719494201192877 + ], + [ + -0.00020771592067500048, + 0.9999965429306032, + -0.002626462088500858, + 0.0021975274367001603 + ], + [ + 0.006537125965679947, + 0.0026277638971805577, + 0.999975163223258, + 0.0002987956498122171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999683625460947, + 0.0004889839328825474, + -0.007939443175327151, + 0.00688622698770267 + ], + [ + -0.0005151551341831317, + 0.9999944567680359, + -0.003294639348267257, + 0.00227618695392206 + ], + [ + 0.007937788156611537, + 0.0032986251171678305, + 0.9999630716685314, + 0.00039456926694487245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999543473068627, + 0.0007110527949407697, + -0.00952757588041516, + 0.008070656505272295 + ], + [ + -0.000747867934863844, + 0.9999922513961792, + -0.0038610551483594904, + 0.0023405685756832635 + ], + [ + 0.009524756959489677, + 0.0038680043071508408, + 0.9999471628638208, + 0.0004946858696304641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999939421828403, + 0.0007128954166546464, + -0.010981709222551529, + 0.008719138666538713 + ], + [ + -0.0007577639509368786, + 0.9999913573265076, + -0.004082128673789887, + 0.002178700369854354 + ], + [ + 0.010978704490236238, + 0.004090203437954187, + 0.99993134927464, + 0.00022114967385643758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999221659691687, + 0.0007943193195387721, + -0.012452746142368859, + 0.009485812040527952 + ], + [ + -0.0008546885450098152, + 0.9999879002571106, + -0.00484329088176503, + 0.002946647812860478 + ], + [ + 0.012448747900984724, + 0.004853556863963604, + 0.9999107125313821, + 0.0002706795128382662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999009355504744, + 0.0006670414004474878, + -0.014059535836860149, + 0.010467497366396503 + ], + [ + -0.0007400434564501324, + 0.9999862909317017, + -0.005187785939438734, + 0.0034890401125347685 + ], + [ + 0.014055882234566063, + 0.0051976763643324375, + 0.9998876943569532, + 0.00021811464723025024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998702366884163, + 0.0005030512111261487, + -0.016100802870929173, + 0.012029427297269952 + ], + [ + -0.0005955264077389479, + 0.9999833703041077, + -0.005739238787682661, + 0.004278670015349077 + ], + [ + 0.01609764772140419, + 0.005748082417994738, + 0.999853892788769, + 0.0002114196070328372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998322675030261, + 0.0005004483973607421, + -0.018307749804276074, + 0.013887757643987215 + ], + [ + -0.000613944076373667, + 0.999980628490448, + -0.006194228370731848, + 0.004874426564670119 + ], + [ + 0.01830429505482262, + 0.0062044295482337475, + 0.9998131906145886, + 0.0004187013875950052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998052638067692, + 0.000537351006641984, + -0.019727232515934664, + 0.015023403241512214 + ], + [ + -0.0006702980397187392, + 0.9999771118164062, + -0.0067332702765696365, + 0.005210475312032128 + ], + [ + 0.019723162906905397, + 0.006745181977748871, + 0.999782745064394, + 0.0003716444145775051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999778586860377, + 0.0009534736745990813, + -0.021020140040171675, + 0.016211878346919693 + ], + [ + -0.0011117917852701417, + 0.9999710917472839, + -0.007521334356349677, + 0.005331387181613696 + ], + [ + 0.021012361795947034, + 0.007543039508163929, + 0.9997507816944272, + 0.0005682187163754842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997470481583569, + 0.0011162854498252273, + -0.02246323616669392, + 0.017643711627241168 + ], + [ + -0.0013132418788062825, + 0.9999608397483826, + -0.008755106227613526, + 0.005601136000437966 + ], + [ + 0.02245258323807969, + 0.00878239143639803, + 0.9997093583620182, + 0.000771989185325121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997184966884645, + 0.0010198316304013133, + -0.023704571629425325, + 0.018936184105897206 + ], + [ + -0.0012573157764147708, + 0.9999491572380066, + -0.010005753273902192, + 0.005766916364263822 + ], + [ + 0.02369316135639003, + 0.01003274042159319, + 0.9996689140921327, + 0.0008196608838004979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9996929865191041, + 0.0007766605704091489, + -0.02476520026002525, + 0.020162267909885605 + ], + [ + -0.0010619977676404198, + 0.9999331831932068, + -0.011510629370510464, + 0.005896338448287691 + ], + [ + 0.024754605423172975, + 0.011533396318554878, + 0.9996270027002829, + 0.000800171647173894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999664352696136, + 0.0008707321248948574, + -0.02589263513948964, + 0.02149888103218418 + ], + [ + -0.0012054243525092575, + 0.9999158978462219, + -0.01291335677073194, + 0.0060676984749448 + ], + [ + 0.025879213757681853, + 0.012940234504640102, + 0.9995813418751457, + 0.0005192686080739855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996426143473294, + 0.0009543554042465987, + -0.026716816194523627, + 0.022674703003198637 + ], + [ + -0.0013339156575060465, + 0.9998983740806582, + -0.014192576650381282, + 0.0065372622304841225 + ], + [ + 0.02670055596503728, + 0.014223141595721248, + 0.99954228535834, + 0.00018465522980896628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999626128832565, + 0.0009250862058252096, + -0.027326294052457033, + 0.02390506826485021 + ], + [ + -0.001341978535799441, + 0.9998829364776611, + -0.015241689314942113, + 0.00726268115161383 + ], + [ + 0.02730899515340514, + 0.015272662043571472, + 0.9995103450982398, + 0.00020041754682582989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9996149673346664, + 0.0009937994182109835, + -0.027729421075285494, + 0.024808750786534692 + ], + [ + -0.001428786464722477, + 0.9998762011528017, + -0.01567144170511632, + 0.007620135292599395 + ], + [ + 0.02771041394010731, + 0.015705026686191562, + 0.999492635393602, + -0.00017518882321890467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9996040838408061, + 0.0008153708768077197, + -0.02812502317799212, + 0.02579449115004114 + ], + [ + -0.0012705249841769245, + 0.9998684525489809, + -0.016169172759933507, + 0.007906152090699073 + ], + [ + 0.028108140278599446, + 0.016198504716157917, + 0.9994736565322757, + -0.000447972195671836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995677822832039, + 0.0009345848229713738, + -0.02938281496967156, + 0.02827276316586933 + ], + [ + -0.001444380659390457, + 0.9998487234115601, + -0.017333702458486595, + 0.008853048429168597 + ], + [ + 0.029362170559737995, + 0.017368651926517487, + 0.9994179353960493, + 3.790465557241326e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995602529738133, + 0.0008287678356282413, + -0.029641036109812145, + 0.029434563928492558 + ], + [ + -0.0013765328566788955, + 0.999828577041626, + -0.018464326961671173, + 0.00936824110542429 + ], + [ + 0.029620653184774484, + 0.018497008830308914, + 0.9993900823565577, + 4.579230960712055e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995605281413807, + 0.0006885568145662547, + -0.029635745996516527, + 0.03050581360566993 + ], + [ + -0.0012706926886744835, + 0.9998065233230593, + -0.01962868118893183, + 0.00993114930572523 + ], + [ + 0.029616497732442012, + 0.01965771429240704, + 0.9993680314574307, + -7.84546100260821e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9995634358639748, + 0.00027616453007794917, + -0.02954355844080612, + 0.03181711836590339 + ], + [ + -0.0008815540981568541, + 0.9997898936271667, + -0.020480359859772146, + 0.010463079093872974 + ], + [ + 0.029531695785595224, + 0.020497461780905724, + 0.9993536843282733, + -0.00033258211210005547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995586160881113, + -0.000360245758201927, + -0.029705758510826952, + 0.03329985148361497 + ], + [ + -0.00025413380896319935, + 0.9997861981391909, + -0.02067580219787343, + 0.010940390295446679 + ], + [ + 0.029706857000184255, + 0.020674226805567745, + 0.9993448527392884, + -0.0004577300104249282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9995545241896386, + -0.000709950749296695, + -0.02983655230189152, + 0.03449977180797243 + ], + [ + 0.00010063120549115333, + 0.9997915029525757, + -0.02041845553584385, + 0.011533093985708356 + ], + [ + 0.02984482988591576, + 0.02040635608136654, + 0.9993462474529626, + -0.0008266167643242632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995458063064863, + -0.0013528461568057537, + -0.030106438109760023, + 0.0355606043269368 + ], + [ + 0.0007545475528058595, + 0.9998021721839905, + -0.019875271937187088, + 0.01183703101914349 + ], + [ + 0.030127370811715053, + 0.019843528047204018, + 0.9993490933483463, + -0.0009674143860623095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9995315744768684, + -0.0016329752979800105, + -0.030561395899421393, + 0.03664784312914219 + ], + [ + 0.0010377980580579642, + 0.9998096823692322, + -0.019480545666907226, + 0.012163300377074821 + ], + [ + 0.030587389075917768, + 0.019439702853560448, + 0.9993430157601496, + -0.0007632974273368487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9995124571293074, + -0.0021301365923136473, + -0.031148987749338657, + 0.03751098802380061 + ], + [ + 0.0015197280015845879, + 0.9998065829277039, + -0.019606976417415586, + 0.0126376222513741 + ], + [ + 0.031184729462436032, + 0.019550081342458725, + 0.9993224052494288, + -0.0006997998678022225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994926364223461, + -0.002467246726155281, + -0.03175449938022493, + 0.03835710392578097 + ], + [ + 0.001830774744499175, + 0.9997971653938293, + -0.0200570114331913, + 0.013434305791355333 + ], + [ + 0.031797544617720934, + 0.01998869888484478, + 0.9992944321546448, + -0.000693348519106963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.99947679728007, + -0.0028400297742336993, + -0.0322194484498218, + 0.03920089107517985 + ], + [ + 0.002169443110143427, + 0.9997807145118716, + -0.020829005050153088, + 0.014612302672989304 + ], + [ + 0.03227153717346314, + 0.02074820920825005, + 0.9992637728840059, + -0.0005082903652237547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994673049848128, + -0.0029583810828626165, + -0.032501226652416, + 0.04002854564037975 + ], + [ + 0.0022573013682745126, + 0.9997644424438479, + -0.021586418098558154, + 0.015747227332538794 + ], + [ + 0.032557430363432255, + 0.02150155417621136, + 0.9992385371084292, + -0.0005452592026456071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994474040192463, + -0.0031880491878837347, + -0.03308584390580265, + 0.04127207795882306 + ], + [ + 0.002467338204551302, + 0.9997592568397522, + -0.02180106986680435, + 0.016246737867462727 + ], + [ + 0.03314738177755693, + 0.021707389503717422, + 0.9992146936086693, + -0.0004502324343307355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994302051086721, + -0.0034013534896075734, + -0.033581707449382055, + 0.042370780563776314 + ], + [ + 0.0026571887326968637, + 0.9997504949569704, + -0.022179643523373482, + 0.01685929215670252 + ], + [ + 0.033648766081088737, + 0.022077770903706554, + 0.9991898260521536, + -0.0002875797917451942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994105288713091, + -0.0038147722370922574, + -0.03411809943273794, + 0.0431166677215306 + ], + [ + 0.003040360388061223, + 0.9997372031211855, + -0.022721119893520735, + 0.017590869600277514 + ], + [ + 0.03419580972067936, + 0.022603996098041538, + 0.9991595075659474, + -0.0004937277930876166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9993876335295465, + -0.004257365129888058, + -0.03473088689989369, + 0.04372808075029667 + ], + [ + 0.0034589518445344862, + 0.9997290968894958, + -0.023016352796546208, + 0.01786079776747495 + ], + [ + 0.034819468380627654, + 0.02288212440907955, + 0.9991316561047228, + 1.9234490202406362e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9993556971217209, + -0.004344628192484379, + -0.03562754153508718, + 0.04454080053435627 + ], + [ + 0.003503229229324096, + 0.9997142553329468, + -0.02364503043921388, + 0.01847253874854858 + ], + [ + 0.035720092116573926, + 0.023504985496401787, + 0.9990853842247343, + 0.0005159148182935554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993052693841923, + -0.004273205995559693, + -0.03702283265684798, + 0.045750089638246255 + ], + [ + 0.0033787399155374167, + 0.9997016787528994, + -0.02418880609347959, + 0.019022988090536205 + ], + [ + 0.03711515302944074, + 0.024046910926699645, + 0.9990216222867785, + 0.0008774113063074462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999255929515084, + -0.004034793470054865, + -0.0383568797287929, + 0.04694203839868381 + ], + [ + 0.0030573004597010327, + 0.9996699094772339, + -0.025508743188903293, + 0.020453598365655315 + ], + [ + 0.03844714190899385, + 0.025372494012117386, + 0.9989384542629247, + 0.0014827436226435209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992053143154147, + -0.003648292040452361, + -0.0396915220127451, + 0.048104261548414705 + ], + [ + 0.002578252882439858, + 0.999632716178894, + -0.02697674983439546, + 0.02210054238571449 + ], + [ + 0.03977536337103281, + 0.02685297653079033, + 0.9988477630025295, + 0.0020236507924939317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9991451317737875, + -0.00383543292991817, + -0.04116110227268318, + 0.04931109757333053 + ], + [ + 0.00271223760310106, + 0.9996233582496643, + -0.027309008701890774, + 0.022442049823762147 + ], + [ + 0.04125034182498768, + 0.027174023911356926, + 0.9987792171194408, + 0.0024219887929451765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9990852936391068, + -0.004099968355149031, + -0.042564931484464406, + 0.05047599184754576 + ], + [ + 0.0029460625155461593, + 0.999627411365509, + -0.02713672845978715, + 0.022186510104249667 + ], + [ + 0.0426603327098715, + 0.026986505836248398, + 0.9987251042618862, + 0.002797459143074915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990208346801908, + -0.004152627661824227, + -0.04404631707754015, + 0.051689097942455464 + ], + [ + 0.0029398269341659026, + 0.9996157288551333, + -0.027563794063707226, + 0.022597189635292194 + ], + [ + 0.04414385332079359, + 0.02740731835365296, + 0.9986491712245106, + 0.003119539484730845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9989667700369868, + -0.003944906406104565, + -0.04527541261010482, + 0.052482701001326446 + ], + [ + 0.0026571356781228605, + 0.9995911717414856, + -0.028468071737087854, + 0.02318063375647538 + ], + [ + 0.04536920641963519, + 0.02831835299730301, + 0.9985688367575621, + 0.003815923929305463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9989048780919747, + -0.0032675720285624274, + -0.046672433395497225, + 0.05342959052920222 + ], + [ + 0.0018673759361105917, + 0.9995477795600893, + -0.030012647145798488, + 0.024286519889211024 + ], + [ + 0.046749398275191256, + 0.029892627149820335, + 0.9984592740451478, + 0.004655785989610534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9988887020104148, + -0.002861427143216133, + -0.047044939741403884, + 0.053024944628598566 + ], + [ + 0.0014008535918240666, + 0.9995168447494507, + -0.03105005417648069, + 0.024759832678084102 + ], + [ + 0.04711105296869736, + 0.03094964474439621, + 0.9984100519795928, + 0.004929529072653581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9988491756740316, + -0.0023017833009362225, + -0.04790597689721495, + 0.05357880738096531 + ], + [ + 0.0007382184335297713, + 0.999467194080353, + -0.03263033320797694, + 0.025792379045204972 + ], + [ + 0.04795556410229545, + 0.032557416707277305, + 0.9983187197141392, + 0.005494069530728494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.998785213228814, + -0.0019446497317403555, + -0.049237227166768205, + 0.05477031529083212 + ], + [ + 0.00026251615353196884, + 0.9994167685508728, + -0.03414729583397527, + 0.026830837132808597 + ], + [ + 0.04927491324014657, + 0.03409288823604584, + 0.9982031952351021, + 0.006240718574472853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9987196374012642, + -0.001641829265281558, + -0.05056053566352213, + 0.055955838189031035 + ], + [ + -0.00017202318426577385, + 0.9993571639060974, + -0.035849634347430284, + 0.028075019060004317 + ], + [ + 0.05058689612624416, + 0.03581243008375168, + 0.998077372300416, + 0.006804878223506991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986497115545923, + -0.0011024021077901125, + -0.0519374657835198, + 0.057451746618654695 + ], + [ + -0.0008974362620683009, + 0.9992595314979553, + -0.038465682203630544, + 0.03019743611082972 + ], + [ + 0.05194141179114392, + 0.03846035152673721, + 0.9979092502128702, + 0.007632713508516829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9985420937421806, + -0.0002417459909338504, + -0.05397795940542421, + 0.0599122894812974 + ], + [ + -0.002057994290626495, + 0.9990924000740051, + -0.042545521662124886, + 0.03374823023412586 + ], + [ + 0.05393925432685089, + 0.04259457811713219, + 0.9976353095807903, + 0.00880573816048044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9984426499472969, + 0.0002510111080482602, + -0.055787585287146314, + 0.06204744365030582 + ], + [ + -0.00284640834354796, + 0.9989166259765625, + -0.04644826243268683, + 0.036671489680676475 + ], + [ + 0.05571548723302341, + 0.04653472080826759, + 0.9973616805165365, + 0.009762504160518912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9983465198209324, + 0.001443485263735056, + -0.057464566667802884, + 0.06415055116573282 + ], + [ + -0.00435560502677691, + 0.9987103343009949, + -0.05058385722312661, + 0.03954794812421472 + ], + [ + 0.05731744013959473, + 0.05075050890445709, + 0.9970652691490439, + 0.011199534769406744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9982479207254195, + 0.0023793992586433887, + -0.059122131345472444, + 0.0661662467021863 + ], + [ + -0.0056539170551647725, + 0.9984548687934875, + -0.05528028177009165, + 0.04305151763488236 + ], + [ + 0.05889924595598761, + 0.05551769956946373, + 0.9967189572499141, + 0.01227378509903733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9981365264119847, + 0.004298734944313765, + -0.06086847202678961, + 0.0686645922758679 + ], + [ + -0.008106212358729672, + 0.9980155229568481, + -0.062444515258999314, + 0.04964553634081792 + ], + [ + 0.06047924778527031, + 0.06282156705856323, + 0.9961905962261343, + 0.014503513435119016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9979485623535114, + 0.005073931999504566, + -0.06381925607214192, + 0.07249874435868409 + ], + [ + -0.009370898505798704, + 0.9976946711540222, + -0.06721230915274037, + 0.05370023402941883 + ], + [ + 0.06333110126648693, + 0.06767246872186661, + 0.9956955338929667, + 0.015740667186910508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9980424585023644, + 0.004383104387670755, + -0.062386589836063024, + 0.06967480462792508 + ], + [ + -0.008426293976383609, + 0.9978695511817932, + -0.06469391571516653, + 0.04948036454740547 + ], + [ + 0.06197011570788353, + 0.06509296596050262, + 0.9959531029085226, + 0.014494444097877826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9977898442600812, + 0.006276203319430351, + -0.06615118855624158, + 0.07434529146830857 + ], + [ + -0.011154195053394534, + 0.9972231984138489, + -0.07363082719667122, + 0.05869573660848448 + ], + [ + 0.06550537815440804, + 0.07420595735311508, + 0.9950892079192825, + 0.018017596826326924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9971033270210974, + 0.013463468290865421, + -0.07485776492340472, + 0.08562858523278716 + ], + [ + -0.020466611127357613, + 0.995400607585907, + -0.093587911191933, + 0.07932762961792521 + ], + [ + 0.07325344909575608, + 0.09484890848398209, + 0.9927928354514638, + 0.028034615962157602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9976956495532584, + 0.0071065356023609656, + -0.06747531080169997, + 0.07468871419645648 + ], + [ + -0.012218635392874103, + 0.9970591664314272, + -0.07565497347950899, + 0.058331436813910426 + ], + [ + 0.06673923201147783, + 0.07630509138107301, + 0.9948484096327248, + 0.018051678349550064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9977479641933433, + 0.00595441646873951, + -0.06680985067026103, + 0.0729927530845371 + ], + [ + -0.010695842648237025, + 0.9974305033683777, + -0.0708374292323731, + 0.049904573398639906 + ], + [ + 0.06621638932332813, + 0.0713924840092659, + 0.9952479608321733, + 0.016667929701577756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9977895373354905, + 0.005955101922154427, + -0.06618587296753944, + 0.07111293680869885 + ], + [ + -0.010769999007954554, + 0.9973006844520569, + -0.07263128895411168, + 0.049447905763333994 + ], + [ + 0.06557469294153984, + 0.0731835663318634, + 0.9951603574360403, + 0.01615834613595898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9977294298493636, + 0.006376426201313734, + -0.0670472580973029, + 0.07097979793568461 + ], + [ + -0.011333798749906102, + 0.9972071647644043, + -0.07382027197136302, + 0.04789021378866806 + ], + [ + 0.06638929830465562, + 0.07441255450248718, + 0.9950152036316064, + 0.016541313030183094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9975954481944808, + 0.006418973207473757, + -0.06900812975145876, + 0.07223088220554189 + ], + [ + -0.011658433060438943, + 0.9970554113388064, + -0.07579291592335637, + 0.04676983896634528 + ], + [ + 0.0683184176277759, + 0.07641519606113435, + 0.9947327818387679, + 0.01711422976534487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9974849024221246, + 0.006868094205856325, + -0.07054553180493994, + 0.07318676744633128 + ], + [ + -0.012436049288117165, + 0.9968133568763735, + -0.07879397584969754, + 0.045843783822861854 + ], + [ + 0.06977956349727073, + 0.07947310805320741, + 0.9943916941920279, + 0.017817998670524828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9974035853229333, + 0.0070471568033099174, + -0.07166910137193716, + 0.07366157010298038 + ], + [ + -0.012858490391084892, + 0.9966351389884949, + -0.08095063985040116, + 0.043115006994613084 + ], + [ + 0.07085747297483512, + 0.08166200667619705, + 0.994138096002379, + 0.01759082097492542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9973548145450497, + 0.007975968532264233, + -0.07224828366875147, + 0.07361086915398395 + ], + [ + -0.014136088827882025, + 0.9962671995162964, + -0.0851577353238108, + 0.04178186188215773 + ], + [ + 0.0712993788314723, + 0.08595378696918488, + 0.9937446073254919, + 0.017682013015823526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9972505638709325, + 0.008404552936553955, + -0.07362496237283338, + 0.07477798647677225 + ], + [ + -0.014984680598538577, + 0.9958935976028442, + -0.08928276329296535, + 0.0393097999548585 + ], + [ + 0.07257224639011661, + 0.09014053642749786, + 0.9932813796119685, + 0.0187192107809774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9972114016421261, + 0.009213109500706196, + -0.07405754165605917, + 0.07461751923681441 + ], + [ + -0.016151682950932684, + 0.9954745173454285, + -0.0936464639941443, + 0.03631496706092797 + ], + [ + 0.07285961671669858, + 0.0945814698934555, + 0.9928473022775548, + 0.018401648424211055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9971232240246418, + 0.009413432329893112, + -0.07521066643895803, + 0.07553591625149425 + ], + [ + -0.016867434591483942, + 0.9949347972869873, + -0.09909709967860418, + 0.033779036965420436 + ], + [ + 0.07389686836517402, + 0.10008063167333603, + 0.9922314003255781, + 0.018876455117734364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970924869651395, + 0.010448411107063295, + -0.07548147689279619, + 0.07527918739031565 + ], + [ + -0.018338538035496933, + 0.9943445324897768, + -0.10460708634627605, + 0.030755080199812036 + ], + [ + 0.07396161224088763, + 0.10568715631961825, + 0.9916450512484402, + 0.01895362654218563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9970195558158932, + 0.010755124501883985, + -0.07639595868851277, + 0.07570247518997753 + ], + [ + -0.019211096521245096, + 0.9936536550521853, + -0.11083007034728243, + 0.028272797391298066 + ], + [ + 0.07471913388895506, + 0.11196739226579669, + 0.9908987484078403, + 0.018937268519050685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9969441357607087, + 0.01173768937587738, + -0.07723079782747987, + 0.07673236850271947 + ], + [ + -0.020748306938717414, + 0.9929239153862, + -0.11692577761261055, + 0.025302227147379595 + ], + [ + 0.07531187189895865, + 0.11817087978124619, + 0.9901332319320596, + 0.019773596019937324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969136504862463, + 0.01284224446862936, + -0.07744843552667548, + 0.07681687472141922 + ], + [ + -0.022352066111546644, + 0.9921296834945679, + -0.12320335341295574, + 0.02201052359095157 + ], + [ + 0.07525668557606793, + 0.12455423176288605, + 0.9893546964203802, + 0.019982418532118473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9968596269918087, + 0.013437540270388126, + -0.07804058239376888, + 0.07742813179619572 + ], + [ + -0.0234628152628445, + 0.9913663864135742, + -0.12900476685868945, + 0.018100798189628935 + ], + [ + 0.0756333044802243, + 0.1304306834936142, + 0.9885683769522351, + 0.020228573762253843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9968120997678626, + 0.014365378767251972, + -0.07848109348621055, + 0.07798417726682164 + ], + [ + -0.025044964789591492, + 0.9902763962745669, + -0.13684097044752155, + 0.016672263480138675 + ], + [ + 0.07575219931038821, + 0.13837029039859775, + 0.9874792243862592, + 0.020848496916062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.996746826408358, + 0.014735107310116291, + -0.07923812547915833, + 0.07904292465203606 + ], + [ + -0.025996990168428415, + 0.9893760681152344, + -0.14303536685927687, + 0.013654991554853833 + ], + [ + 0.07628866339666211, + 0.14462999999523163, + 0.9865405347129877, + 0.0213956982029894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9967243671140807, + 0.015337885357439518, + -0.07940584266951503, + 0.0798071779954494 + ], + [ + -0.027058838605988227, + 0.9885103702545166, + -0.14871128442153655, + 0.011050731558428914 + ], + [ + 0.07621258332575477, + 0.15037278831005096, + 0.9856874157780575, + 0.021318679552976727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9967440271865378, + 0.015444952994585037, + -0.07913759537533921, + 0.0804341095534709 + ], + [ + -0.027568735739846046, + 0.9876108169555664, + -0.15448245019376267, + 0.009237530469213082 + ], + [ + 0.07577117214306589, + 0.15616117417812347, + 0.9848209979589272, + 0.021527244145060652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9967431325908506, + 0.015571298077702526, + -0.07912448242381027, + 0.08177336483867192 + ], + [ + -0.02805364329684394, + 0.9868494272232058, + -0.15918902938709878, + 0.0066215744958272645 + ], + [ + 0.07560517467566087, + 0.16089029610157016, + 0.9840722541952569, + 0.02158893832168997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9967661354767998, + 0.015573395416140556, + -0.07883333535983743, + 0.0830886417398954 + ], + [ + -0.028389302099488818, + 0.9860241413116455, + -0.16416597565303745, + 0.003930273102527336 + ], + [ + 0.0751749514560198, + 0.16587311029434204, + 0.9832776229361814, + 0.021774654009879782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9967725705220901, + 0.01579897478222847, + -0.07870707875842681, + 0.08475558497846501 + ], + [ + -0.02899349138912097, + 0.9851139187812805, + -0.16943998364552448, + 0.0009612879454158432 + ], + [ + 0.07485846478904955, + 0.17117512226104736, + 0.9823926345638836, + 0.02222381052503383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968461598859343, + 0.016361400485038757, + -0.07765325606063611, + 0.08531335459000358 + ], + [ + -0.02977072202150382, + 0.9841516017913818, + -0.17481211498348598, + -0.00258211914840538 + ], + [ + 0.07356240623611492, + 0.17657257616519928, + 0.9815348541680596, + 0.02231674627878358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9969022216577976, + 0.016970030963420868, + -0.07679826329942592, + 0.08632771078440364 + ], + [ + -0.030680780493752762, + 0.982995331287384, + -0.18104937161325832, + -0.004943153444661995 + ], + [ + 0.07241992126797767, + 0.18284474313259125, + 0.9804708730691376, + 0.02289600540878245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9969142970606173, + 0.01748301088809967, + -0.07652598828970575, + 0.08761028516015801 + ], + [ + -0.031533172230739606, + 0.981958270072937, + -0.18645015320475822, + -0.008186801891110793 + ], + [ + 0.07188561509096951, + 0.18828794360160828, + 0.9794795372525922, + 0.0229286329171613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969578593602982, + 0.018582586199045185, + -0.07569469492387958, + 0.08804803326340271 + ], + [ + -0.03292253107278163, + 0.9806725978851321, + -0.19286614615232817, + -0.009901831809397639 + ], + [ + 0.0706477662489939, + 0.19477149844169622, + 0.9783010572990615, + 0.02307786247107937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9969296812063834, + 0.01906079612672329, + -0.0759467843315677, + 0.08995471813731012 + ], + [ + -0.033837051337346394, + 0.979552149772644, + -0.19832462395648615, + -0.012960180417074519 + ], + [ + 0.07061360620162924, + 0.20028552412986755, + 0.9771895395559611, + 0.022732920319436533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9969290161508533, + 0.020068388432264328, + -0.0756952583145702, + 0.09151727080954744 + ], + [ + -0.035197212946941586, + 0.9782982468605042, + -0.2041904900984894, + -0.015655185559296632 + ], + [ + 0.06995475861987639, + 0.20622767508029938, + 0.9760002296649242, + 0.023013782571978968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9969077773332534, + 0.02098757028579712, + -0.07572583875010971, + 0.09361372284093344 + ], + [ + -0.03651945716514477, + 0.9770225882530212, + -0.20998379268420428, + -0.018120558684110118 + ], + [ + 0.06957880710823935, + 0.21209995448589325, + 0.9747679017542061, + 0.02275711630150825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9969566582082886, + 0.021758431568741802, + -0.07485955171936792, + 0.09475219529571849 + ], + [ + -0.03744885353904898, + 0.975876569747925, + -0.21508729799053095, + -0.0218395054708706 + ], + [ + 0.06837372377478902, + 0.2172361165285111, + 0.9737214632039691, + 0.02252871662253822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9969782098441533, + 0.02219223976135254, + -0.0744444499434335, + 0.09633839193050972 + ], + [ + -0.03823580673668393, + 0.9743892550468445, + -0.22159322352033345, + -0.023629314354770038 + ], + [ + 0.06762022525566867, + 0.22377006709575653, + 0.9722934386974861, + 0.022622959949557042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9969752785691313, + 0.02254362963140011, + -0.07437834221033893, + 0.09825394465836662 + ], + [ + -0.03899158242143262, + 0.9729372262954712, + -0.2277559122810931, + -0.024953094735124 + ], + [ + 0.06723101357476907, + 0.2299671471118927, + 0.9708733963469725, + 0.022213219973317468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9969742863328124, + 0.021929867565631866, + -0.07457442401881582, + 0.10045650045412138 + ], + [ + -0.03868410466001232, + 0.9721141457557678, + -0.23129543008805034, + -0.02931097720783514 + ], + [ + 0.06742257374891694, + 0.23348045349121094, + 0.9700211607242284, + 0.021797302568583643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9970192838641626, + 0.022857923060655594, + -0.07368896277685011, + 0.10110312021442308 + ], + [ + -0.03981437967865709, + 0.9705377221107483, + -0.23763704286351658, + -0.028493669734266293 + ], + [ + 0.06608602583331111, + 0.2398626059293747, + 0.9685549029899849, + 0.021465978220484107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9969840538521304, + 0.022836510092020038, + -0.07417094540456033, + 0.10320953539263727 + ], + [ + -0.04015024086449257, + 0.969659745693207, + -0.24113892904098327, + -0.030860073898641736 + ], + [ + 0.0664138024915986, + 0.24338965117931372, + 0.9676521460406764, + 0.021499056570019923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9968821269860644, + 0.02265824563801289, + -0.07558182577031257, + 0.10601925669552653 + ], + [ + -0.04052052805329944, + 0.9689354896545412, + -0.24397147920597545, + -0.03336347952573782 + ], + [ + 0.06770595358529401, + 0.24627342820167547, + 0.9668326133539229, + 0.021144756052704536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9967176440369191, + 0.02221402153372765, + -0.07784887017777603, + 0.10925363616941888 + ], + [ + -0.040759929366714395, + 0.9685425162315371, + -0.2454874043779501, + -0.03797760685223541 + ], + [ + 0.06994667783354216, + 0.24785475432872778, + 0.9662688754142129, + 0.02066848472126137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9965766645193653, + 0.02297596074640751, + -0.07941701819048583, + 0.11087812356569393 + ], + [ + -0.04221827425796494, + 0.967345118522644, + -0.24992200074587634, + -0.03924167126160321 + ], + [ + 0.07108147614780337, + 0.25241926312446594, + 0.9650036060298844, + 0.020948271579311853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9964074596303503, + 0.02410665154457093, + -0.08118514521542962, + 0.11244755335859194 + ], + [ + -0.04417123359443584, + 0.9658434987068178, + -0.2553335474283927, + -0.04000742724037655 + ], + [ + 0.07225691407837946, + 0.2580022811889649, + 0.9634385312115825, + 0.020707237676060246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9962211580466391, + 0.025127019733190536, + -0.08313833028226669, + 0.11424755374225806 + ], + [ + -0.046061023933761464, + 0.964383065700531, + -0.26046822791741453, + -0.04111420192712989 + ], + [ + 0.07363241494650635, + 0.2633133828639984, + 0.9618962313208125, + 0.020322327606204334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9960315551846801, + 0.026491761207580566, + -0.08496666488534001, + 0.1159839992885906 + ], + [ + -0.048274441273162015, + 0.9628472924232483, + -0.26569652543627365, + -0.04198187547431309 + ], + [ + 0.0747711606918189, + 0.2687438428401947, + 0.9603051943483554, + 0.01938045124348435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.995843800927426, + 0.027361121028661735, + -0.08687041310420629, + 0.1177602513545036 + ], + [ + -0.049993282539605007, + 0.9614867568016054, + -0.27026629236054744, + -0.04293489824959474 + ], + [ + 0.07612996448895352, + 0.27348592877388006, + 0.9588585143196956, + 0.018235764040909645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9956615773127768, + 0.02765067294239998, + -0.08884540922602545, + 0.11949921229828597 + ], + [ + -0.05117221474942693, + 0.960184633731842, + -0.27463947259009763, + -0.043398874748365124 + ], + [ + 0.07771403087723472, + 0.2779943645000458, + 0.9574338792635214, + 0.017590342120638466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9954287870170183, + 0.027790829539299018, + -0.09137384979919046, + 0.12135872657965069 + ], + [ + -0.05225382856843488, + 0.9593074321746828, + -0.2774865395537959, + -0.044360788579888316 + ], + [ + 0.07994403871411244, + 0.28099274635314947, + 0.9563744382365393, + 0.016337095677828727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9950682054277398, + 0.02732110023498535, + -0.09535612898358982, + 0.12548743997199419 + ], + [ + -0.05299917385319179, + 0.9590361714363098, + -0.2782817685765539, + -0.046640750262071574 + ], + [ + 0.08384700870845467, + 0.28196316957473755, + 0.9557543631748365, + 0.015090800396204798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9948265129392714, + 0.027253629639744766, + -0.09786455376641742, + 0.1277809455435463 + ], + [ + -0.05381839396720394, + 0.9584397077560427, + -0.28017295742056725, + -0.04675814613548569 + ], + [ + 0.08616154282405432, + 0.2839903831481934, + 0.9549479647770938, + 0.013827351254430098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9943925118085201, + 0.026886502280831337, + -0.10227744543233523, + 0.1332624180544512 + ], + [ + -0.054813352726865466, + 0.9581257700920105, + -0.28105251959954336, + -0.04750065901682048 + ], + [ + 0.09043813464502849, + 0.28508269786834717, + 0.9542267923634354, + 0.013671935920189227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9940444118304627, + 0.02632264979183674, + -0.10574887755975645, + 0.13719964850571784 + ], + [ + -0.055322859796378784, + 0.9579384326934814, + -0.2815906825571385, + -0.04804329737018735 + ], + [ + 0.09388870753258337, + 0.2857639491558075, + 0.9536896382529035, + 0.012867895111613603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9935592503748742, + 0.025764308869838715, + -0.11034568391582053, + 0.1427121480395472 + ], + [ + -0.056219676511601924, + 0.957582414150238, + -0.2826221172884721, + -0.047391684222432465 + ], + [ + 0.09838352575032305, + 0.2870054244995117, + 0.9528633401165885, + 0.013063396368873062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.993063046257893, + 0.024666791781783104, + -0.11496670297996578, + 0.14820662770589024 + ], + [ + -0.05663150206021035, + 0.9572102427482605, + -0.28379822221407514, + -0.04644312924540018 + ], + [ + 0.10304691678914484, + 0.2883402407169342, + 0.9519670481658414, + 0.013471726540567034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9923735490310397, + 0.02333184704184532, + -0.12103883950883641, + 0.15592766469287941 + ], + [ + -0.057254646294840755, + 0.9568221569061279, + -0.2849793242544727, + -0.04586175496165439 + ], + [ + 0.10916354817314561, + 0.28973597288131714, + 0.9508608472612621, + 0.014771594494876028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9921510907075386, + 0.021438565105199817, + -0.12319337470415757, + 0.15753734117357082 + ], + [ + -0.05600251321966681, + 0.9570468068122866, + -0.28447345767353127, + -0.04712165049665178 + ], + [ + 0.11180311980919715, + 0.28913980722427374, + 0.9507356472371926, + 0.013104555397273348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9914407746077244, + 0.02055411785840988, + -0.12892914596641752, + 0.16464668156857193 + ], + [ + -0.05698666245721408, + 0.9566200971603394, + -0.28571054429852927, + -0.04588819427038879 + ], + [ + 0.11746368879489448, + 0.2906123399734497, + 0.9496035057519309, + 0.014086138496347335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9911375845439899, + 0.01957114413380623, + -0.13138958786002328, + 0.16705848919910327 + ], + [ + -0.05677279934081541, + 0.956614077091217, + -0.2857731922311065, + -0.04616089458926714 + ], + [ + 0.12009623503817869, + 0.29069992899894714, + 0.9492473354225089, + 0.013179245577508976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.991483302457202, + 0.01896898448467255, + -0.12884479684459887, + 0.16215493581164678 + ], + [ + -0.05544929511291133, + 0.9566694498062136, + -0.28584779430929613, + -0.04636526415797702 + ], + [ + 0.11783964685773263, + 0.29055765271186834, + 0.9495736328587143, + 0.009737941755584721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9902519516662307, + 0.01813526451587677, + -0.13810186580649356, + 0.17433597522972666 + ], + [ + -0.05742940984553317, + 0.9564486145973206, + -0.286195523624643, + -0.0468638230880652 + ], + [ + 0.12689711710865734, + 0.2913368046283722, + 0.9481666704947437, + 0.011232717540815835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9900174911863948, + 0.017700264230370525, + -0.139828771850147, + 0.1761204072076092 + ], + [ + -0.0576584028712223, + 0.956133306026459, + -0.2872013751371144, + -0.046837417946914955 + ], + [ + 0.12861139975252267, + 0.29239666461944586, + 0.9476092300713461, + 0.0112728543943832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9897503903140784, + 0.016854496672749523, + -0.1418101639039222, + 0.17749215171271043 + ], + [ + -0.05759861031353678, + 0.955773711204529, + -0.2884078209823347, + -0.04666011919241425 + ], + [ + 0.13067745110248513, + 0.29361984133720404, + 0.9469481527269393, + 0.009703431375847858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9894426975949522, + 0.016039585694670677, + -0.14403424014611066, + 0.17951908573574832 + ], + [ + -0.05762456616553353, + 0.9554562568664551, + -0.28945259118378575, + -0.04690714525007636 + ], + [ + 0.13297571101101618, + 0.2946966588497162, + 0.9462934569501265, + 0.008877025955940962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9890769903842402, + 0.015247568488121036, + -0.14660912118036323, + 0.18208572370289833 + ], + [ + -0.057788790009348626, + 0.95511931180954, + -0.2905297782479682, + -0.047181946672792865 + ], + [ + 0.1355993308972903, + 0.29582867026329046, + 0.9455676692819935, + 0.008113981515062079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886116341516688, + 0.015149546787142754, + -0.1497249318315616, + 0.18592759808064593 + ], + [ + -0.0587941157904115, + 0.9547296166419983, + -0.2916069179313467, + -0.04726910769742308 + ], + [ + 0.13852910988131062, + 0.29708895087242126, + 0.9447475000336228, + 0.00802923952294067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9882268890454392, + 0.01469515636563301, + -0.1522879349061188, + 0.18913543355107898 + ], + [ + -0.05930001115662061, + 0.9543582201004028, + -0.2927180200645449, + -0.04731275905425092 + ], + [ + 0.1410357156051695, + 0.2983025312423706, + 0.943993927833192, + 0.007242326987039742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9878197950302343, + 0.014255501329898834, + -0.1549477322094731, + 0.19237961714383178 + ], + [ + -0.05973446706108296, + 0.9542365074157715, + -0.293026353031515, + -0.0478700589582441 + ], + [ + 0.14367954740220787, + 0.29871296882629395, + 0.943465273239076, + 0.006410859680047634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9874456380154887, + 0.013773739337921146, + -0.15735743369210187, + 0.195472303051547 + ], + [ + -0.0600742852290427, + 0.9540805220603945, + -0.29346458818374055, + -0.04771678914983182 + ], + [ + 0.14608955772191268, + 0.2992334961891175, + 0.9429300898547506, + 0.006055304484451362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.987026959328036, + 0.013498718850314617, + -0.1599861481060216, + 0.19885564670712172 + ], + [ + -0.060623624492394994, + 0.9540290236473083, + -0.293519051118608, + -0.04793128572869975 + ], + [ + 0.14866929575486218, + 0.2994101643562317, + 0.9424706983032513, + 0.0055864086945603235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9866491566723202, + 0.013105448335409164, + -0.16233199156597097, + 0.20159764818048295 + ], + [ + -0.06097269823525757, + 0.9539903402328491, + -0.2935723853450652, + -0.0482551126089342 + ], + [ + 0.15101575274235288, + 0.29955077171325684, + 0.9420528317577165, + 0.005296929524532892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9862271025046316, + 0.012848930433392525, + -0.16489712646884286, + 0.20388972784127965 + ], + [ + -0.06151379571614299, + 0.9539555907249451, + -0.2935725082066233, + -0.0487997910751494 + ], + [ + 0.15353243864330504, + 0.29967260360717773, + 0.9416072213139604, + 0.005269176879300754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9857163901574392, + 0.012294429354369644, + -0.16796457958956323, + 0.20660358614153904 + ], + [ + -0.06189052732986861, + 0.9539898633956911, + -0.2933817666720018, + -0.04969301731515623 + ], + [ + 0.15662954253658523, + 0.2995866239070893, + 0.9411243458525442, + 0.005191907400633074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9851953127716488, + 0.011615701019763947, + -0.17104181363895182, + 0.20916424546600132 + ], + [ + -0.06220348784331678, + 0.9539309144020081, + -0.2935072264230047, + -0.05052998048271708 + ], + [ + 0.15975278252485134, + 0.2998013496398926, + 0.9405308086099268, + 0.005337526738291545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9846636965730202, + 0.01100757997483015, + -0.17411575390296843, + 0.21154728558525707 + ], + [ + -0.06261656451065169, + 0.9538103938102722, + -0.29381093938515246, + -0.051512481917588566 + ], + [ + 0.1628392699223104, + 0.3002074658870697, + 0.9398717306269561, + 0.005596939789983303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.984174483142485, + 0.010259771719574928, + -0.17690494267833942, + 0.21351045061332102 + ], + [ + -0.06286182237257791, + 0.9536084532737732, + -0.2944134594256622, + -0.05242485619053808 + ], + [ + 0.16567743626423542, + 0.300874799489975, + 0.9391620654177718, + 0.006224030902257982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9836289919301442, + 0.009562669321894647, + -0.17995168496677408, + 0.21588691350239655 + ], + [ + -0.06329717715888476, + 0.9532966613769533, + -0.2953285928336733, + -0.05272719544628376 + ], + [ + 0.16872320081186692, + 0.30188420414924627, + 0.9382954727435671, + 0.006957727100214178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9829557929239554, + 0.009050115942955017, + -0.18361925201181545, + 0.21942991614268134 + ], + [ + -0.06400504769015589, + 0.9531480669975281, + -0.2956554462678722, + -0.05326533427612049 + ], + [ + 0.17234061427850608, + 0.30236876010894775, + 0.9374816396555491, + 0.007864973874069568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9822948942408647, + 0.008848156780004501, + -0.1871322846890138, + 0.2230183054528967 + ], + [ + -0.06498823813502166, + 0.9529503583908081, + -0.2960780432474037, + -0.053079154064792924 + ], + [ + 0.1757080197761403, + 0.302997350692749, + 0.9366532302016864, + 0.008697755994320273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9818393535630239, + 0.008388788439333439, + -0.18952865131909322, + 0.2251951154761485 + ], + [ + -0.06527052289973215, + 0.9529709815979004, + -0.2959494269361435, + -0.053245100303805346 + ], + [ + 0.17813264474958268, + 0.30294540524482727, + 0.9362119353769772, + 0.009321968089632614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9813124706420978, + 0.007891487330198288, + -0.19225908789722262, + 0.22792610665300309 + ], + [ + -0.06558560856638798, + 0.9530461430549622, + -0.2956376439218327, + -0.053141106659392354 + ], + [ + 0.18089875994053525, + 0.30272236466407776, + 0.9357536242961044, + 0.010466113325692458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9808128170542313, + 0.007440454326570034, + -0.19480971963077065, + 0.23039026727346693 + ], + [ + -0.06584011608093937, + 0.953201174736023, + -0.2950806549593865, + -0.05311355188565299 + ], + [ + 0.18349731971388894, + 0.302245169878006, + 0.9354018119353624, + 0.011778243905667923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9802473152325543, + 0.007206707261502743, + -0.19764433194571876, + 0.23321044416236889 + ], + [ + -0.06637268176196168, + 0.9533676505088806, + -0.29442281793584385, + -0.05291784188400922 + ], + [ + 0.1863058876079458, + 0.3017253875732422, + 0.9350143806738085, + 0.012997194276165285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9796576823909946, + 0.007215050049126148, + -0.20054615322160044, + 0.23590905168631146 + ], + [ + -0.06709087115738303, + 0.9536243677139282, + -0.2934269191019807, + -0.052844876511211815 + ], + [ + 0.18912861788519927, + 0.3009127378463745, + 0.9347095453423098, + 0.014162296514942316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9790376420897762, + 0.007200681138783693, + -0.20355204446396963, + 0.23857063517993632 + ], + [ + -0.06780988942647019, + 0.9538871645927429, + -0.2924057923289773, + -0.05265904625249313 + ], + [ + 0.1920601600669669, + 0.3000791072845459, + 0.9343797097167243, + 0.015102400398086871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9784614279709225, + 0.0073445760644972324, + -0.20629903702210817, + 0.24064709206688667 + ], + [ + -0.06848358586357245, + 0.9543184041976929, + -0.2908374379021522, + -0.05300452405891738 + ], + [ + 0.19473888927272773, + 0.29870128631591797, + 0.9342667291452468, + 0.015970813577863063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9779414389348204, + 0.00758214620873332, + -0.20874146521970785, + 0.24247827689040152 + ], + [ + -0.06913636435751475, + 0.9547628164291382, + -0.28921979766620803, + -0.053236529751599405 + ], + [ + 0.19710569133506023, + 0.29727163910865784, + 0.9342263646499016, + 0.01697586206714714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9772989546102405, + 0.007875194773077967, + -0.21171848832961448, + 0.245167439816359 + ], + [ + -0.06999028544604172, + 0.9552057981491091, + -0.2875469298417336, + -0.053383098139019584 + ], + [ + 0.1999702450349683, + 0.295837551355362, + 0.934072839158347, + 0.017823564782957595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9767385554641932, + 0.008488552644848824, + -0.21426547593822745, + 0.2472882859219404 + ], + [ + -0.07103218065884725, + 0.9556097388267517, + -0.28594492736138793, + -0.05349824185190964 + ], + [ + 0.20232691911800793, + 0.29451319575309753, + 0.9339838477241248, + 0.019026994355243496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9761666979790745, + 0.009077849797904493, + -0.21683213032407303, + 0.24967419868751414 + ], + [ + -0.07208358692285796, + 0.9559639096260073, + -0.2844942766293789, + -0.05371620002809412 + ], + [ + 0.2047010840254868, + 0.29334390163421636, + 0.9338344451961021, + 0.020155784683317263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9756787662329341, + 0.009452003985643387, + -0.21900141709936266, + 0.2513831236672224 + ], + [ + -0.07287160748381996, + 0.9562346339225769, + -0.2833814856428268, + -0.0537288817523906 + ], + [ + 0.20673820998835726, + 0.2924482524394989, + 0.9336665780631145, + 0.021020642691582707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9752023787775159, + 0.009715363383293152, + -0.2211017186161233, + 0.25281715715580866 + ], + [ + -0.07353741148060526, + 0.9564980268478394, + -0.2823186277299009, + -0.053931156318398565 + ], + [ + 0.2087405241287714, + 0.291577011346817, + 0.9334935643464517, + 0.02164048488798782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.974729669463072, + 0.009856334887444973, + -0.22317017528044197, + 0.2540949264457002 + ], + [ + -0.07411467722883318, + 0.9567082524299622, + -0.28145399854569597, + -0.054115836496323136 + ], + [ + 0.2107346389825946, + 0.2908817529678345, + 0.933262394028834, + 0.022397994711970248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9740755039370551, + 0.009932444430887699, + -0.22600494942202454, + 0.2563591700780894 + ], + [ + -0.07491528176829515, + 0.9568285942077637, + -0.28083232142451486, + -0.05409209175421506 + ], + [ + 0.21345864653929572, + 0.2904830873012543, + 0.9327673913247758, + 0.023206590955587008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9737087526375069, + 0.010340643115341663, + -0.22756183919674597, + 0.25706033039186227 + ], + [ + -0.07567332549224355, + 0.9569211006164551, + -0.2803132548556383, + -0.05381933904239036 + ], + [ + 0.21486011190166565, + 0.2901638150215149, + 0.9325449796315997, + 0.023675386370080105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9731960926927565, + 0.010536699555814266, + -0.22973547507136463, + 0.2585402641333899 + ], + [ + -0.07637191649452214, + 0.957065999507904, + -0.279628273666336, + -0.05361323785884961 + ], + [ + 0.21692565529487134, + 0.2896784543991089, + 0.9322176061999318, + 0.024046859542149364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9727902501368311, + 0.010891634970903398, + -0.23143145749551924, + 0.2596022770844319 + ], + [ + -0.0769882772999988, + 0.957329332828522, + -0.27855575044184583, + -0.05387978904291567 + ], + [ + 0.21852219645313023, + 0.288793832063675, + 0.9321191763028867, + 0.024758324235002457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9724347304754942, + 0.011450154706835747, + -0.23289389871956614, + 0.2604813442799683 + ], + [ + -0.07778949362013132, + 0.9575045108795166, + -0.27773003842683597, + -0.05382441853954406 + ], + [ + 0.2198169005024378, + 0.288191020488739, + 0.932001313234952, + 0.025127450290822164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9720857432770751, + 0.011858062818646431, + -0.2343260718858721, + 0.2613451259119224 + ], + [ + -0.0784269117071397, + 0.957697331905365, + -0.2768844556212355, + -0.05410021778859091 + ], + [ + 0.22113014391131272, + 0.28753289580345154, + 0.9318939296142159, + 0.025614411007278345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.97173196410825, + 0.012128437869250774, + -0.23577519342777625, + 0.2622070797784297 + ], + [ + -0.07894049725261747, + 0.9578892588615417, + -0.27607358664000703, + -0.0543427999872192 + ], + [ + 0.22249817201064545, + 0.2868817150592804, + 0.9317689806541556, + 0.026020799207880727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9712788636831764, + 0.012183948419988155, + -0.23763185092149802, + 0.26339271437840295 + ], + [ + -0.0793807159000595, + 0.9580661058425903, + -0.27533255161612324, + -0.05426678152485679 + ], + [ + 0.22431238671080236, + 0.2862880825996399, + 0.9315165369689827, + 0.02652821782861803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9708136237484691, + 0.012012994848191738, + -0.23953400247856163, + 0.26453946232126335 + ], + [ + -0.0795299557575235, + 0.9583596587181091, + -0.2742658445310378, + -0.05461186405870241 + ], + [ + 0.226264988107227, + 0.28531113266944885, + 0.9313440727954456, + 0.02711424866484903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9702976581137055, + 0.012110580690205097, + -0.2416108702861353, + 0.2647983282578436 + ], + [ + -0.0801110803063762, + 0.9584789872169495, + -0.2736791507522413, + -0.054582658688114155 + ], + [ + 0.228264529507611, + 0.28490594029426575, + 0.9309801125342989, + 0.027981663568651467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9698581993740528, + 0.012454718351364136, + -0.24335142886619326, + 0.2658970946259843 + ], + [ + -0.0809318696664065, + 0.9584629535675049, + -0.27349357021233356, + -0.05388048320884942 + ], + [ + 0.22983705247124236, + 0.28494489192962646, + 0.9305811713436053, + 0.027878687505796466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9695341236940339, + 0.011867624707520008, + -0.24466872495083677, + 0.2672071638205211 + ], + [ + -0.08068277973841674, + 0.9585614800453186, + -0.2732219267810132, + -0.053707062871294745 + ], + [ + 0.23128750563237496, + 0.28463855385780334, + 0.9303155145601072, + 0.0284854207649618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9692263430423201, + 0.011898798868060112, + -0.24588362179950607, + 0.2681270315919131 + ], + [ + -0.08104357918902982, + 0.9585740566253662, + -0.27307102215172946, + -0.05398578994069622 + ], + [ + 0.2324484291227985, + 0.28459489345550537, + 0.9300394905326078, + 0.028628987977839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9689850116126171, + 0.011795263737440113, + -0.24683778638404275, + 0.26877638062407605 + ], + [ + -0.08113982464421102, + 0.9586682319641116, + -0.2727116053924999, + -0.054792274697131375 + ], + [ + 0.2334188414287209, + 0.2842818200588227, + 0.929892224642038, + 0.028543881257254947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9685331249736664, + 0.012376344762742523, + -0.248576703578879, + 0.27001948912706847 + ], + [ + -0.08233051384380201, + 0.958466172218323, + -0.273064696911936, + -0.054672606583897505 + ], + [ + 0.23487281937480414, + 0.2849376797676087, + 0.9293251928382852, + 0.029033790108532534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9681856253316381, + 0.012780892662703994, + -0.24990640858787025, + 0.27077570189671035 + ], + [ + -0.083152173896487, + 0.9583755731582644, + -0.2731336353463679, + -0.054675786733182886 + ], + [ + 0.23601331204468698, + 0.28522434830665594, + 0.9289482388113574, + 0.029290995729527675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9678238064562007, + 0.013170582242310047, + -0.25128393302339214, + 0.27156974704857795 + ], + [ + -0.0838230283344846, + 0.9584664106369019, + -0.2726094024131365, + -0.05493545159720274 + ], + [ + 0.23725678145734314, + 0.2849012613296509, + 0.92873059847963, + 0.029521775154673288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9675701827565908, + 0.013317734003067017, + -0.25225095203987774, + 0.2718644312555498 + ], + [ + -0.08411106198999846, + 0.9586091041564941, + -0.2720182260187465, + -0.054859803832295634 + ], + [ + 0.23818740392511897, + 0.28441381454467773, + 0.9286417981240348, + 0.029519737572597557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9674047961024944, + 0.01368729118257761, + -0.25286493192278753, + 0.2716651369247284 + ], + [ + -0.08455152756307859, + 0.9586939811706543, + -0.27158225993122964, + -0.05453759400669911 + ], + [ + 0.23870285641635255, + 0.28411009907722473, + 0.9286024115517764, + 0.029448711155617487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9672290241917568, + 0.013676067814230922, + -0.2535368349851537, + 0.27185560470737746 + ], + [ + -0.08455452931295963, + 0.9589017629623415, + -0.2708465951397732, + -0.054825966068782844 + ], + [ + 0.23941281175124798, + 0.2834084033966065, + 0.9286340296111063, + 0.029460908952540353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9671147474008942, + 0.013848480768501759, + -0.2539631717067707, + 0.27145811108419377 + ], + [ + -0.08478359904971254, + 0.9589590430259705, + -0.2705720743772651, + -0.05456215382634008 + ], + [ + 0.23979327596301842, + 0.28320616483688354, + 0.9285975866704506, + 0.029139891985937458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9669469467598288, + 0.01372866798192263, + -0.25460774313682877, + 0.2713521738367449 + ], + [ + -0.08480677164091832, + 0.9590147137641909, + -0.2703674854790305, + -0.054282097079585534 + ], + [ + 0.24046078938623988, + 0.2830235064029694, + 0.9284806441530505, + 0.02899310907926564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9667029572020149, + 0.013748432509601116, + -0.2555316297294793, + 0.27204994121624015 + ], + [ + -0.0851234755703698, + 0.9589675068855286, + -0.27043546973609794, + -0.05405416926083355 + ], + [ + 0.24132845386585564, + 0.2831825017929077, + 0.9282069900041132, + 0.02929978446208547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9664798296916277, + 0.013619882985949516, + -0.2563810879124433, + 0.2726817064759468 + ], + [ + -0.08527789014653053, + 0.9589269757270813, + -0.27053044038781615, + -0.05416158379341488 + ], + [ + 0.24216614700503755, + 0.28332582116127014, + 0.9279450435506076, + 0.029351780964913178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9663519447148948, + 0.013129913248121738, + -0.2568881509381767, + 0.27272685453068335 + ], + [ + -0.08503071223122462, + 0.9588568210601807, + -0.2708567434447629, + -0.05402031523427005 + ], + [ + 0.24276263100963727, + 0.2835863530635834, + 0.9277096033434639, + 0.029108854558439617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9665815599567743, + 0.012918918393552303, + -0.2560336376038084, + 0.27058895185008947 + ], + [ + -0.08467028202336659, + 0.9587716460227966, + -0.2712707639443681, + -0.05313647454244606 + ], + [ + 0.24197326717665132, + 0.2838837802410126, + 0.9278248413822636, + 0.028548033481120588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.966445798859148, + 0.012471792288124561, + -0.25656762499270175, + 0.2705190021916647 + ], + [ + -0.08433108432216059, + 0.9588639736175537, + -0.2710500562135784, + -0.05291735089120275 + ], + [ + 0.24263298366752606, + 0.2835918068885803, + 0.9277418608641864, + 0.028487546295978737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9661650324992507, + 0.012243223376572132, + -0.25763395359513064, + 0.2712738673552677 + ], + [ + -0.0843798750606808, + 0.9589112401008606, + -0.2708677166188216, + -0.052890060845788234 + ], + [ + 0.24373179087753974, + 0.28344202041625977, + 0.927499555837984, + 0.028662245054936378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9658505103968179, + 0.012170713394880295, + -0.2588139306036108, + 0.27228084368708316 + ], + [ + -0.08468495408069968, + 0.9588640332221985, + -0.2709396197556273, + -0.05293976510211322 + ], + [ + 0.24486983267414153, + 0.28360480070114136, + 0.9271499614740135, + 0.02893230805038513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9655963613228304, + 0.012092404067516327, + -0.25976421298430646, + 0.27293909655284093 + ], + [ + -0.084948883011703, + 0.9587841629981995, + -0.2711394518160899, + -0.052948777821500176 + ], + [ + 0.24577909152064095, + 0.283877968788147, + 0.9268257585963553, + 0.02913126081201932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9653895476844001, + 0.012219628319144249, + -0.26052587878193917, + 0.2733398048864764 + ], + [ + -0.0854341827784625, + 0.9586056470870972, + -0.271617788346127, + -0.052836611731899 + ], + [ + 0.24642250505324706, + 0.28447476029396057, + 0.9264718232554428, + 0.0291595660821169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9650623911279648, + 0.01232461910694838, + -0.26173026483306033, + 0.2742639285411112 + ], + [ + -0.0858985708677006, + 0.9585719108581545, + -0.2715904724101666, + -0.05346871435588038 + ], + [ + 0.24754001738826348, + 0.2845840156078339, + 0.9261403176674777, + 0.029093594508310693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9648007886961066, + 0.012797458097338676, + -0.26267016550332467, + 0.2749442510950059 + ], + [ + -0.0867465169396492, + 0.9583991169929504, + -0.271930528885858, + -0.0536291453922218 + ], + [ + 0.24826283918988312, + 0.28514450788497925, + 0.9257743728543169, + 0.02921405026821907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9645323830359429, + 0.013290473259985447, + -0.26362978755081634, + 0.27569667896772365 + ], + [ + -0.08757719879914362, + 0.9582738876342773, + -0.2721055622511644, + -0.053612658072159765 + ], + [ + 0.2490131216642034, + 0.2855425775051117, + 0.9254501093944782, + 0.02893309389964978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/pan_right/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..febec5602330013f18da6da84dfed9a235170409 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/pan_right/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999985853759727, + -7.29400126147084e-05, + 0.0016637566872397048, + -0.00024375782231800258 + ], + [ + 7.39363538072107e-05, + 0.9999998211860657, + -0.0005987986875713579, + 0.0007016772869974375 + ], + [ + -0.0016637128037169735, + 0.0005989208584651351, + 0.9999984662290011, + -0.00022578085190616548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999947753710455, + 7.64142896514386e-06, + 0.0032378811792309063, + -0.0004426397499628365 + ], + [ + -3.871067399297402e-06, + 0.9999993443489075, + -0.0011644578914800907, + 0.001386196119710803 + ], + [ + -0.003237887758568304, + 0.0011644393671303988, + 0.9999940600936897, + -0.00035828238469548523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999875581709616, + 7.649810140719637e-05, + 0.004993186627002183, + -0.0008916063234210014 + ], + [ + -6.902805449668916e-05, + 0.9999988675117493, + -0.001496201852387278, + 0.0017944538267329335 + ], + [ + -0.004993295413345711, + 0.0014958386309444904, + 0.9999864252080402, + -0.00048292375868186355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999790835331197, + 1.2577570487337656e-05, + 0.006468419295686005, + -0.001230201218277216 + ], + [ + 7.509135123740659e-07, + 0.9999978542327883, + -0.0020605407126675344, + 0.0020973188802599907 + ], + [ + -0.0064684312975610055, + 0.0020605023019015793, + 0.9999769376628489, + -0.0006216545007191598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999704153222614, + 0.00019054125004913663, + 0.00769045576726514, + -0.0013141644885763526 + ], + [ + -0.00017032625625952827, + 0.9999965429306032, + -0.00262915156894059, + 0.002201290102675557 + ], + [ + -0.0076909298841059065, + 0.0026277638971805577, + 0.9999669547924023, + -0.0006230720900930464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999581625859852, + 0.0004889839328825474, + 0.009134217465802367, + -0.0015541857574135065 + ], + [ + -0.0004588305265739296, + 0.9999944567680359, + -0.0033029544040616165, + 0.0022839626763015985 + ], + [ + -0.00913578191190749, + 0.0032986251171678305, + 0.9999528442233873, + -0.0007114832988008857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999457414871916, + 0.0007110527949407697, + 0.01039160630901624, + -0.001776276738382876 + ], + [ + -0.000670814293637346, + 0.9999922513961792, + -0.003875185349131402, + 0.002352567855268717 + ], + [ + -0.010394281569521135, + 0.0038680043071508408, + 0.9999385023216155, + -0.0007973233587108552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999303011863059, + 0.0007128954166546464, + 0.011782955207975784, + -0.0025344528257846832 + ], + [ + -0.0006646453001349503, + 0.9999913573265076, + -0.004098320063114345, + 0.002192764077335596 + ], + [ + -0.011785775404580874, + 0.004090203437954187, + 0.9999221623269477, + -0.0012557823210954666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999131426814017, + 0.0007943193195387721, + 0.01315735444391533, + -0.003174397861585021 + ], + [ + -0.000730381217984719, + 0.9999879002571106, + -0.004863589451297718, + 0.0029647715855389833 + ], + [ + -0.013161058074371118, + 0.004853556863963604, + 0.999901590612637, + -0.001391463098116219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998961486152811, + 0.0006670414004474878, + 0.014395952451631226, + -0.0035990632604807615 + ], + [ + -0.0005921377691229274, + 0.9999862909317017, + -0.005206741796291708, + 0.0035080360248684883 + ], + [ + -0.014399227828157625, + 0.0051976763643324375, + 0.999882808828019, + -0.0016313025262206793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999884336155752, + 0.0005030512111261487, + 0.015200012460825467, + -0.003442529123276472 + ], + [ + -0.00041561378229796556, + 0.9999833703041077, + -0.00575506548601487, + 0.0042982022278010845 + ], + [ + -0.015202654549883895, + 0.005748082417994738, + 0.9998679015158225, + -0.001832514419220388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998744345568192, + 0.0005004483973607421, + 0.01583830681669244, + -0.002988985972478986 + ], + [ + -0.0004021083273865168, + 0.999980628490448, + -0.0062115780064923975, + 0.004896789323538542 + ], + [ + -0.015841108245954087, + 0.0062044295482337475, + 0.9998552508407993, + -0.0018242745427414775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998508303555667, + 0.000537351006641984, + 0.017264016790560822, + -0.003259743098169565 + ], + [ + -0.00042080974081389175, + 0.9999771118164062, + -0.006753454467265111, + 0.005236689932644367 + ], + [ + -0.017267250760588857, + 0.006745181977748871, + 0.9998281765057027, + -0.0020581718999892473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998224936952129, + 0.0009534736745990813, + 0.018816219942564234, + -0.0034779964480549097 + ], + [ + -0.0008113461492822437, + 0.9999710917472839, + -0.0075596474057885174, + 0.005369880236685276 + ], + [ + -0.018822884576945805, + 0.007543039508163929, + 0.9997944007960162, + -0.002045868895947933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997949707698112, + 0.0011162854498252273, + 0.020218152829108757, + -0.003452521748840809 + ], + [ + -0.0009384502481601138, + 0.9999608397483826, + -0.008803169907526266, + 0.005649288184940815 + ], + [ + -0.020227187765954915, + 0.00878239143639803, + 0.9997568607245173, + -0.0020291705150157213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997613661398241, + 0.0010198316304013133, + 0.021821780665431736, + -0.003567008301615715 + ], + [ + -0.0008006049376562906, + 0.9999491572380066, + -0.010052610271647174, + 0.005819804035127163 + ], + [ + -0.021830922381704372, + 0.01003274042159319, + 0.9997113155932404, + -0.0021641214843839407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997210298984024, + 0.0007766605704091489, + 0.023606033514385515, + -0.0037485247012227774 + ], + [ + -0.0005041346058177811, + 0.9999331831932068, + -0.011548518349249323, + 0.005951376631855965 + ], + [ + -0.023613425169831004, + 0.011533396318554878, + 0.9996546109376764, + -0.002361424034461379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996789353913311, + 0.0008707321248948574, + 0.025323363534611024, + -0.0038194137159734964 + ], + [ + -0.0005426895397998723, + 0.9999158978462219, + -0.01295813717403943, + 0.006132969632744789 + ], + [ + -0.025332517224090106, + 0.012940234504640102, + 0.9995953462780446, + -0.0028207185678184032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996256595508821, + 0.0009543554042465987, + 0.02734383759093732, + -0.004052267409861088 + ], + [ + -0.0005649864431905661, + 0.9998983740806582, + -0.014243923380771838, + 0.006612692028284073 + ], + [ + -0.02735465218817679, + 0.014223141595721248, + 0.999524598452624, + -0.0033247736282646656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9995620110691146, + 0.0009250862058252096, + 0.029578874537217616, + -0.004231579601764679 + ], + [ + -0.00047282505016833397, + 0.9998829364776611, + -0.015293346136006348, + 0.007344788406044245 + ], + [ + -0.029589559395072053, + 0.015272662043571472, + 0.9994454308012501, + -0.003470770549029112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994867274964983, + 0.0009937994182109835, + 0.03202007606170649, + -0.004738643299788237 + ], + [ + -0.0004902906284946347, + 0.9998762011528017, + -0.01572879941312253, + 0.007709575351327658 + ], + [ + -0.03203174323901697, + 0.015705026686191562, + 0.999363478756278, + -0.003999747801572084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994054510712679, + 0.0008153708768077197, + 0.03446861948229983, + -0.005164026748389006 + ], + [ + -0.00025643896538526907, + 0.9998684525489809, + -0.016216985556293306, + 0.007995794527232647 + ], + [ + -0.03447730934318985, + 0.016198504716157917, + 0.9992742230200742, + -0.0044229053892195225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993493589777236, + 0.0009345848229713738, + 0.03605495673160031, + -0.004093639552593231 + ], + [ + -0.0003076097475967785, + 0.9998487234115601, + -0.0173910566858874, + 0.008955394849181175 + ], + [ + -0.036065756484942195, + 0.017368651926517487, + 0.999198482715246, + -0.004112204071134329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992528231549312, + 0.0008287678356282413, + 0.03864046795312544, + -0.004344098269939423 + ], + [ + -0.00011327360785436738, + 0.999828577041626, + -0.0185152202779977, + 0.009475627914071083 + ], + [ + -0.03864919050725498, + 0.018497008830308914, + 0.9990816582646654, + -0.004245373420417309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991387188517832, + 0.0006885568145662547, + 0.04148912327663046, + -0.00468664662912488 + ], + [ + 0.00012775061397163613, + 0.9998065233230593, + -0.0196693534440359, + 0.010042283684015274 + ], + [ + -0.041494639968236935, + 0.01965771429240704, + 0.9989453408925547, + -0.004498138092458248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990126956421365, + 0.00027616453007794917, + 0.0444242963632716, + -0.004789970815181732 + ], + [ + 0.0006347515159456673, + 0.9997898936271667, + -0.020489494091527685, + 0.010566294193267822 + ], + [ + -0.044420621878075106, + 0.020497461780905724, + 0.9988026410600005, + -0.004873818717896938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9988898795748241, + -0.000360245758201927, + 0.047104857155894096, + -0.00472111813724041 + ], + [ + 0.0013336255434878794, + 0.9997861981391909, + -0.020634311799238726, + 0.01102322805672884 + ], + [ + -0.04708735410420416, + 0.020674226805567745, + 0.9986768311785373, + -0.0051261973567306995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9987581231358675, + -0.000709950749296695, + 0.049816444587684784, + -0.0049355970695614815 + ], + [ + 0.0017254942846226839, + 0.9997915029525757, + -0.02034566594099307, + 0.011602872982621193 + ], + [ + -0.04979161572960643, + 0.02040635608136654, + 0.9985511660261944, + -0.00561736011877656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986258780618072, + -0.0013528461568057537, + 0.05238866466923081, + -0.005288838408887386 + ], + [ + 0.0023903000747642557, + 0.9998021721839905, + -0.019745435982504007, + 0.011879313737154007 + ], + [ + -0.052351588138490696, + 0.019843528047204018, + 0.9984315600318162, + -0.005882738158106804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984973677089454, + -0.0016329752979800105, + 0.05477566954255965, + -0.005615083500742912 + ], + [ + 0.002695041194318127, + 0.9998096823692322, + -0.019321113768380308, + 0.012192348949611187 + ], + [ + -0.054733693434078884, + 0.019439702853560448, + 0.9983117120028877, + -0.0058074770495295525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983701772263319, + -0.0021301365923136473, + 0.05702982219450244, + -0.0061649964191019535 + ], + [ + 0.0032412058762422476, + 0.9998065829277039, + -0.01939684721545499, + 0.012645784765481949 + ], + [ + -0.05697747576754618, + 0.019550081342458725, + 0.9981840132161542, + -0.005876082926988602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982391720699005, + -0.002467246726155281, + 0.05926578978281218, + -0.006732098292559385 + ], + [ + 0.003647071129447639, + 0.9997971653938293, + -0.019807430827167162, + 0.013429133221507072 + ], + [ + -0.059204899210720946, + 0.01998869888484478, + 0.9980457033064358, + -0.006000080145895481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9980943093006771, + -0.0028400297742336993, + 0.06164179508451484, + -0.0073025221936404705 + ], + [ + 0.004112985985407127, + 0.9997807145118716, + -0.020533808245702893, + 0.014592857100069523 + ], + [ + -0.061569960916332135, + 0.02074820920825005, + 0.9978871077545184, + -0.005936699919402599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9979326298831859, + -0.0029583810828626165, + 0.06420038692986975, + -0.00789039209485054 + ], + [ + 0.00433201546502469, + 0.9997644424438479, + -0.02126740458550972, + 0.0157245434820652 + ], + [ + -0.06412234685180974, + 0.02150155417621136, + 0.9977103612515406, + -0.006083647720515728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9977842260232304, + -0.0031880491878837347, + 0.06645618682254371, + -0.00806096289306879 + ], + [ + 0.004622856758107315, + 0.9997592568397522, + -0.02144769452754642, + 0.01621232181787491 + ], + [ + -0.06637181481950809, + 0.021707389503717422, + 0.9975587877612723, + -0.00611044280230999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9976246759748217, + -0.0034013534896075734, + 0.06880023143064516, + -0.00837711337953806 + ], + [ + 0.004911440201905412, + 0.9997504949569704, + -0.021791626693025968, + 0.01681417226791382 + ], + [ + -0.0687089422090063, + 0.022077770903706554, + 0.9973924148525655, + -0.006062750238925219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.997461660489001, + -0.0038147722370922574, + 0.07110334578806335, + -0.009046047925949097 + ], + [ + 0.005411387387142268, + 0.9997372031211855, + -0.02227577085201123, + 0.017524998635053635 + ], + [ + -0.07099968489277743, + 0.022603996098041538, + 0.9972201961989167, + -0.006383625324815512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9972986600846613, + -0.004257365129888058, + 0.07332979714945145, + -0.00984921958297491 + ], + [ + 0.005922763559366709, + 0.9997290968894958, + -0.022508614256273683, + 0.017770111560821533 + ], + [ + -0.07321410697335036, + 0.02288212440907955, + 0.9970537378441396, + -0.005987047683447599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9971535186544737, + -0.004344628192484379, + 0.07527277941246259, + -0.010449638590216637 + ], + [ + 0.006100423641080213, + 0.9997142553329468, + -0.0231115752579501, + 0.018377816304564476 + ], + [ + -0.07515086037155082, + 0.023504985496401787, + 0.9968951189256154, + -0.005619703326374292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970436579885714, + -0.004273205995559693, + 0.07671802670636545, + -0.010650544427335262 + ], + [ + 0.0061042446205989065, + 0.9997016787528994, + -0.023648518373392664, + 0.018933238461613655 + ], + [ + -0.07659408706425522, + 0.024046910926699645, + 0.9967723321840845, + -0.005413984879851341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9969275970156424, + -0.004034793470054865, + 0.07822422388365682, + -0.01086923386901617 + ], + [ + 0.006005910788398738, + 0.9996699094772339, + -0.024979433556029728, + 0.02038380317389965 + ], + [ + -0.07809761901489354, + 0.025372494012117386, + 0.9966227872321484, + -0.00496062682941556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9968098414765163, + -0.003648292040452361, + 0.07972964951269551, + -0.011117706075310707 + ], + [ + 0.005776373289965689, + 0.999632716178894, + -0.026476894288574252, + 0.022061560302972794 + ], + [ + -0.07960377441494221, + 0.02685297653079033, + 0.9964648374555674, + -0.004571196157485247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9966985644688685, + -0.00383543292991817, + 0.08109995236285987, + -0.011320549063384533 + ], + [ + 0.006025231307201522, + 0.9996233582496643, + -0.026773770313318592, + 0.02239304594695568 + ], + [ + -0.08096671737544353, + 0.027174023911356926, + 0.9963462781221429, + -0.004333108197897673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9965796901914317, + -0.004099968355149031, + 0.08253555873783927, + -0.01156575232744217 + ], + [ + 0.006311875304583128, + 0.999627411365509, + -0.026556384279210938, + 0.02211863361299038 + ], + [ + -0.08239592335294843, + 0.026986505836248398, + 0.9962342343468465, + -0.004114068578928709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9964660367897671, + -0.004152627661824227, + 0.08389364515679963, + -0.011762246489524841 + ], + [ + 0.006435773319126928, + 0.9996157288551333, + -0.026962680641474116, + 0.022527512162923813 + ], + [ + -0.08374944446688211, + 0.02740731835365296, + 0.9961098722153587, + -0.0039529926143586636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9963300980455522, + -0.003944906406104565, + 0.08550325346842436, + -0.01238012034446001 + ], + [ + 0.006350232517737271, + 0.9995911717414856, + -0.027877697634679337, + 0.02312910556793213 + ], + [ + -0.08535832136221584, + 0.02831835299730301, + 0.9959478116893088, + -0.003400973277166486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9962077016979283, + -0.0032675720285624274, + 0.08694530805472757, + -0.012843631207942963 + ], + [ + 0.005852794454425042, + 0.9995477795600893, + -0.02949560778589284, + 0.024290304630994797 + ], + [ + -0.08680961057106903, + 0.029892627149820335, + 0.9957763401880743, + -0.0027151142712682486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9959909505377121, + -0.002861427143216133, + 0.08940856673892252, + -0.014666296541690826 + ], + [ + 0.005615787797342909, + 0.9995168447494507, + -0.030570102756832973, + 0.02479691244661808 + ], + [ + -0.08927789312300888, + 0.03094964474439621, + 0.9955257610957283, + -0.0025263044517487288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9958130219190422, + -0.0023017833009362225, + 0.09138426420141674, + -0.015527021139860153 + ], + [ + 0.005266188149078325, + 0.999467194080353, + -0.032211036526285715, + 0.02587985433638096 + ], + [ + -0.0912614327210241, + 0.032557416707277305, + 0.9952946062135338, + -0.0020770265255123377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9956744019295227, + -0.0019446497317403555, + 0.09289075328517016, + -0.0157465860247612 + ], + [ + 0.005102042003684777, + 0.9994167685508728, + -0.033765009919982644, + 0.026956917718052864 + ], + [ + -0.09277091631145903, + 0.03409288823604584, + 0.9951036092483655, + -0.0014775393065065145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9955325259031086, + -0.001641829265281558, + 0.09440482914804503, + -0.015972210094332695 + ], + [ + 0.0050143237665676455, + 0.9993571639060974, + -0.03549763980864661, + 0.028238680213689804 + ], + [ + -0.09428586206044799, + 0.03581243008375168, + 0.9949008248932699, + -0.0010596959618851542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9953936976600661, + -0.0011024021077901125, + 0.0958651834541899, + -0.0158870629966259 + ], + [ + 0.004783526144066166, + 0.9992595314979553, + -0.03817763713044864, + 0.03042495995759964 + ], + [ + -0.09575211128147895, + 0.03846035152673721, + 0.9946619099495111, + -0.00038084283005446196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9953170536136476, + -0.0002417459909338504, + 0.09666382913188777, + -0.014831841923296452 + ], + [ + 0.004357751011447189, + 0.9990924000740051, + -0.04237176843282353, + 0.03408017382025719 + ], + [ + -0.09656585224932952, + 0.04259457811713219, + 0.9944147476073837, + 0.0005955059314146638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9952166639139641, + 0.0002510111080482602, + 0.09769222985432878, + -0.014103689230978489 + ], + [ + 0.004296540977242089, + 0.9989166259765625, + -0.04633662546091208, + 0.03708155080676079 + ], + [ + -0.09759802428602007, + 0.04653472080826759, + 0.9941373964074828, + 0.0013708749320358038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9951010771795742, + 0.001443485263735056, + 0.09885239631357777, + -0.013408508151769638 + ], + [ + 0.0035822556661635977, + 0.9987103343009949, + -0.050644499711826364, + 0.04009505361318588 + ], + [ + -0.09879801303383155, + 0.05075050890445709, + 0.9938125540100499, + 0.002639136975631118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.994981426441982, + 0.0023793992586433887, + 0.10003148845705312, + -0.012800756841897964 + ], + [ + 0.003189735899446789, + 0.9984548687934875, + -0.05547703953474077, + 0.04372500628232956 + ], + [ + -0.10000892999422997, + 0.05551769956946373, + 0.9934364674386326, + 0.0035458658821880817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9948648311381912, + 0.004298734944313765, + 0.10112103643177846, + -0.011709102429449558 + ], + [ + 0.0020844467721160384, + 0.9980155229568481, + -0.06293395940500196, + 0.0505516417324543 + ], + [ + -0.10119090059073868, + 0.06282156705856323, + 0.992881586625358, + 0.005608446896076202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9948724503562651, + 0.005073931999504566, + 0.10101008895730412, + -0.009270676411688328 + ], + [ + 0.0017993704298991883, + 0.9976946711540222, + -0.06783856209049195, + 0.05473789945244789 + ], + [ + -0.10112143940520574, + 0.06767246872186661, + 0.9925698358778818, + 0.006573264952749014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9944341533185188, + 0.004383104387670755, + 0.10526894261128243, + -0.013531168922781944 + ], + [ + 0.002502892635068533, + 0.9978695511817932, + -0.06519233612315814, + 0.050439100712537766 + ], + [ + -0.10533041804002699, + 0.06509296596050262, + 0.9923045809979292, + 0.005399863235652447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9945212726253516, + 0.006276203319430351, + 0.10434553824487053, + -0.010248021222651005 + ], + [ + 0.0015186345211239045, + 0.9972231984138489, + -0.074455413034557, + 0.05992954224348068 + ], + [ + -0.10452309209151062, + 0.07420595735311508, + 0.9917501749453874, + 0.008591740392148495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950478629723576, + 0.013463468290865421, + 0.0984808616941051, + -0.0002956773096229881 + ], + [ + -0.003995100464575308, + 0.995400607585907, + -0.09571634376941884, + 0.0814543142914772 + ], + [ + -0.09931658582532663, + 0.09484890848398209, + 0.9905250616254907, + 0.017912572249770164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9940509807262493, + 0.0071065356023609656, + 0.10868382778714653, + -0.012738682329654694 + ], + [ + 0.0012497088489776403, + 0.9970591664314272, + -0.07662511527457555, + 0.059689223766326904 + ], + [ + -0.10890874353747357, + 0.07630509138107301, + 0.9911187460740174, + 0.008452213369309902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9936704941498584, + 0.00595441646873951, + 0.11217622410528925, + -0.015865786001086235 + ], + [ + 0.0021070889857222525, + 0.9974305033683777, + -0.07160937512793672, + 0.051120955497026443 + ], + [ + -0.11231438127210627, + 0.0713924840092659, + 0.9911047338778488, + 0.007084906566888094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9932751307085245, + 0.005955101922154427, + 0.11562458783758353, + -0.019175933673977852 + ], + [ + 0.002562822210753318, + 0.9973006844520569, + -0.07338071242556234, + 0.050687722861766815 + ], + [ + -0.11574947288792391, + 0.0731835663318634, + 0.9905787383609505, + 0.006609875708818436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9930414215843971, + 0.006376426201313734, + 0.11759287828581462, + -0.02072504535317421 + ], + [ + 0.002436115106388818, + 0.9972071647644043, + -0.07464551487676806, + 0.04919610172510147 + ], + [ + -0.117740430463447, + 0.07441255450248718, + 0.9902524856932772, + 0.006899235304445028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9929372632861965, + 0.006418973207473757, + 0.11846683674286143, + -0.020879413932561874 + ], + [ + 0.00269790718380382, + 0.9970554113388064, + -0.07663684794155669, + 0.048123255372047424 + ], + [ + -0.11860993065752268, + 0.07641519606113435, + 0.9899961604982489, + 0.0072764134965837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9927789319899425, + 0.006868094205856325, + 0.11976140786842168, + -0.021332813426852226 + ], + [ + 0.002721168311955538, + 0.9968133568763735, + -0.07972290257584207, + 0.04729153588414192 + ], + [ + -0.11992731738114717, + 0.07947310805320741, + 0.9895966185803804, + 0.007827586494386196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9925703757114186, + 0.0070471568033099174, + 0.12146777912926632, + -0.02227165922522545 + ], + [ + 0.0029481866498139, + 0.9966351389884949, + -0.08191248416941606, + 0.04462145268917084 + ], + [ + -0.12163631075029897, + 0.08166200667619705, + 0.9892097569811327, + 0.007484283298254013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9922858623711277, + 0.007975968532264233, + 0.12371421877722108, + -0.023741137236356735 + ], + [ + 0.0027489821616272234, + 0.9962671995162964, + -0.08627926743954795, + 0.04343773052096367 + ], + [ + -0.12394057418511945, + 0.08595378696918488, + 0.9885599021207125, + 0.007522935979068279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9921000270478545, + 0.008404552936553955, + 0.1251673222408328, + -0.023985005915164948 + ], + [ + 0.0029789416436305544, + 0.9958935976028442, + -0.09048247554389603, + 0.041074760258197784 + ], + [ + -0.12541379782965212, + 0.09014053642749786, + 0.9880010168739233, + 0.008428016677498817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9917882684859203, + 0.009213109500706196, + 0.1275583377709699, + -0.025566047057509422 + ], + [ + 0.0029688055750868073, + 0.9954745173454285, + -0.09498275250913371, + 0.03822305053472519 + ], + [ + -0.12785615607575238, + 0.0945814698934555, + 0.9872725524096451, + 0.00807778537273407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9915695444337248, + 0.009413432329893112, + 0.12923314894787508, + -0.026061316952109337 + ], + [ + 0.0036472639971439316, + 0.9949347972869873, + -0.10045617442319979, + 0.03578938543796539 + ], + [ + -0.12952419678997676, + 0.10008063167333603, + 0.986512737572176, + 0.008446995168924332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9912235545407538, + 0.010448411107063295, + 0.13178294973113197, + -0.02774033322930336 + ], + [ + 0.0036300219576593756, + 0.9943445324897768, + -0.10614031953844652, + 0.03294655308127403 + ], + [ + -0.13214665276895896, + 0.10568715631961825, + 0.9855797734900779, + 0.008520109578967094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9909643635545196, + 0.010755124501883985, + 0.133693557616828, + -0.028733350336551666 + ], + [ + 0.004379519498194608, + 0.9936536550521853, + -0.11239746674946505, + 0.030587051063776016 + ], + [ + -0.13405394047245914, + 0.11196739226579669, + 0.9846282646812179, + 0.008431117981672287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9906830231122232, + 0.01173768937587738, + 0.1356810733962611, + -0.02911990135908127 + ], + [ + 0.004488123916727182, + 0.9929239153862, + -0.11866754592071495, + 0.027810262516140938 + ], + [ + -0.13611386558571606, + 0.11817087978124619, + 0.983620206492559, + 0.009214079938828945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9903098393977473, + 0.01284224446862936, + 0.13828054340127227, + -0.030458373948931694 + ], + [ + 0.004606478455347343, + 0.9921296834945679, + -0.1251297786615682, + 0.024722430855035782 + ], + [ + -0.13879918221148688, + 0.12455423176288605, + 0.9824566509879102, + 0.009441559202969074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9899883134481021, + 0.013437540270388126, + 0.14050831883838452, + -0.03126680478453636 + ], + [ + 0.005139370486654305, + 0.9913663864135742, + -0.13102030546187907, + 0.020964160561561584 + ], + [ + -0.1410558069953434, + 0.1304306834936142, + 0.9813720456429698, + 0.009663203731179237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9896350826606669, + 0.014365378767251972, + 0.14288473482363903, + -0.03213167563080788 + ], + [ + 0.005693930562438651, + 0.9902763962745669, + -0.13899741223879483, + 0.019744904711842537 + ], + [ + -0.14349212244830412, + 0.13837029039859775, + 0.979930418494155, + 0.010290536098182201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9893296015986833, + 0.014735107310116291, + 0.1449477695074143, + -0.032491352409124374 + ], + [ + 0.006542212196009017, + 0.9893760681152344, + -0.14523139856782924, + 0.01686481200158596 + ], + [ + -0.1455478569570206, + 0.14462999999523163, + 0.9787226410632665, + 0.010801422409713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9889290988732448, + 0.015337885357439518, + 0.1475940014051143, + -0.03315170854330063 + ], + [ + 0.0072020104422775705, + 0.9885103702545166, + -0.15098131641563264, + 0.014409664086997509 + ], + [ + -0.14821393799496724, + 0.15037278831005096, + 0.9774562230936148, + 0.010759660042822361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9884629511004379, + 0.015444952994585037, + 0.15067318618666584, + -0.033955153077840805 + ], + [ + 0.008453698442168596, + 0.9876108169555664, + -0.15669523793278053, + 0.01268317922949791 + ], + [ + -0.151226621929614, + 0.15616117417812347, + 0.9760861526363894, + 0.011049460619688034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.988026284593272, + 0.015571298077702526, + 0.15349793822287155, + -0.03404359146952629 + ], + [ + 0.0095161044082939, + 0.9868494272232058, + -0.16136169847991685, + 0.010148460045456886 + ], + [ + -0.1539919669407861, + 0.16089029610157016, + 0.9748850281096635, + 0.01116515975445509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9875397203072327, + 0.015573395416140556, + 0.1565973320744102, + -0.034159377217292786 + ], + [ + 0.010813502684810322, + 0.9860241413116455, + -0.16625128028227432, + 0.007520591374486685 + ], + [ + -0.15699785310412162, + 0.16587311029434204, + 0.9735696334696039, + 0.011440305039286613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9870664610226975, + 0.01579897478222847, + 0.15953107257217378, + -0.03392140939831734 + ], + [ + 0.011948237491264271, + 0.9851139187812805, + -0.17148693892416117, + 0.0046462407335639 + ], + [ + -0.1598656020411285, + 0.17117512226104736, + 0.9721841736419952, + 0.011970431543886662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9864275231596632, + 0.016361400485038757, + 0.16338003614041804, + -0.03480193018913269 + ], + [ + 0.012968351421607212, + 0.9841516017913818, + -0.17685415826631523, + 0.0012178611941635609 + ], + [ + -0.16368430950774537, + 0.17657257616519928, + 0.9705820647317432, + 0.012267041020095348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9858058433541543, + 0.016970030963420868, + 0.1670294944040272, + -0.03522350639104843 + ], + [ + 0.014099845308524126, + 0.982995331287384, + -0.18308844752069212, + -0.0010112341260537505 + ], + [ + -0.16729622687561332, + 0.18284474313259125, + 0.968803256810484, + 0.01303884293884039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9852715321526009, + 0.01748301088809967, + 0.1701010008707987, + -0.035370904952287674 + ], + [ + 0.015117850608239256, + 0.981958270072937, + -0.18849257591215168, + -0.004130963236093521 + ], + [ + -0.1703275051353465, + 0.18828794360160828, + 0.9672312270330852, + 0.013195759616792202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9846196990307038, + 0.018582586199045185, + 0.17372020164786148, + -0.03636749088764191 + ], + [ + 0.01589808108236008, + 0.9806725978851321, + -0.1950089597987441, + -0.0056544397957623005 + ], + [ + -0.17398641185900865, + 0.19477149844169622, + 0.965294148991312, + 0.013562409207224846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9841572521824086, + 0.01906079612672329, + 0.17627026492672562, + -0.035885415971279144 + ], + [ + 0.01693529136862096, + 0.979552149772644, + -0.20047642858188533, + -0.008580725640058517 + ], + [ + -0.17648715306255547, + 0.20028552412986755, + 0.9637105179473057, + 0.01328994520008564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9835873061582274, + 0.020068388432264328, + 0.17931326370132025, + -0.03575124591588974 + ], + [ + 0.017675836057837607, + 0.9782982468605042, + -0.2064465181725042, + -0.011086724698543549 + ], + [ + -0.17956489835461362, + 0.20622767508029938, + 0.9618869808030708, + 0.013726753182709217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9830603624968205, + 0.02098757028579712, + 0.18207647527771145, + -0.035080436617136 + ], + [ + 0.018468565843040925, + 0.9770225882530212, + -0.2123341141158928, + -0.013367056846618652 + ], + [ + -0.18234921233372103, + 0.21209995448589325, + 0.9600845991110235, + 0.013594922609627247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9823612615470391, + 0.021758431568741802, + 0.18572259593590973, + -0.035376761108636856 + ], + [ + 0.019495874281306367, + 0.975876569747925, + -0.21745085254894747, + -0.01695144921541214 + ], + [ + -0.18597371366865703, + 0.2172361165285111, + 0.9582391308181889, + 0.01360415481030941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.981741008690129, + 0.02219223976135254, + 0.18892357949054708, + -0.03522169589996338 + ], + [ + 0.021056760125588533, + 0.9743892550468445, + -0.22387975897778462, + -0.01862589828670025 + ], + [ + -0.18905350805186708, + 0.22377006709575653, + 0.9561306379836869, + 0.013883354142308235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9811791248493198, + 0.02254362963140011, + 0.19177947968403167, + -0.03473407402634621 + ], + [ + 0.022593732030980133, + 0.9729372262954712, + -0.22996221940056286, + -0.019839487969875336 + ], + [ + -0.19177358350996182, + 0.2299671471118927, + 0.9541163731895308, + 0.013615529984235764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9806808250630918, + 0.021929867565631866, + 0.1943815620889292, + -0.03395984694361687 + ], + [ + 0.024489589060634764, + 0.9721141457557678, + -0.2332258475396846, + -0.024230152368545532 + ], + [ + -0.19407568317805476, + 0.23348045349121094, + 0.9527966650354517, + 0.013268069364130497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9799281484790293, + 0.022857923060655594, + 0.19803620742328226, + -0.03474706783890724 + ], + [ + 0.025775752394272322, + 0.9705377221107483, + -0.2395666077704116, + -0.02325519546866417 + ], + [ + -0.1976776087879943, + 0.2398626059293747, + 0.9504680562229542, + 0.013215906918048859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.979458101931264, + 0.022836510092020038, + 0.2003505910618667, + -0.03406456112861633 + ], + [ + 0.02708861071747069, + 0.969659745693207, + -0.2429531479728272, + -0.0255708210170269 + ], + [ + -0.19982009746909904, + 0.24338965117931372, + 0.9491224354876242, + 0.013306786306202412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9791743979458523, + 0.02265824563801289, + 0.20175253628743123, + -0.03267066925764084 + ], + [ + 0.028203600542893895, + 0.9689354896545412, + -0.2457001277494312, + -0.028019342571496964 + ], + [ + -0.20105232548537433, + 0.24627342820167547, + 0.9481177990168697, + 0.012878929264843464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790685738046428, + 0.02221402153372765, + 0.20231469622992176, + -0.030844824388623238 + ], + [ + 0.029094135121571444, + 0.9685425162315371, + -0.24714159676535732, + -0.03259626403450966 + ], + [ + -0.20144039913897044, + 0.24785475432872778, + 0.947623260018943, + 0.012196147814393044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9787938258450585, + 0.02297596074640751, + 0.2035552935455253, + -0.030631572008132935 + ], + [ + 0.029642564224767052, + 0.967345118522644, + -0.25172347432117476, + -0.03365588188171387 + ], + [ + -0.2026918073799639, + 0.25241926312446594, + 0.9461503935015166, + 0.012422516942024231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9785495633927979, + 0.02410665154457093, + 0.20459620083086433, + -0.030469972640275955 + ], + [ + 0.030019916696447473, + 0.9658434987068178, + -0.2573812792748529, + -0.03414693847298622 + ], + [ + -0.2038125176615697, + 0.2580022811889649, + 0.9444020979962476, + 0.012121842242777348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9783438816436918, + 0.025127019733190536, + 0.20545517017652265, + -0.030076002702116966 + ], + [ + 0.030411000422806117, + 0.964383065700531, + -0.2627555646100551, + -0.03498550131917 + ], + [ + -0.20473975563705843, + 0.2633133828639984, + 0.9427341750576957, + 0.011648275889456272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9781019995338653, + 0.026491761207580566, + 0.2064332133480572, + -0.029745161533355713 + ], + [ + 0.030550139599697834, + 0.9628472924232483, + -0.2683127918672223, + -0.03553592786192894 + ], + [ + -0.20587174247586154, + 0.2687438428401947, + 0.9409535686810412, + 0.010651538148522377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9778862329377795, + 0.027361121028661735, + 0.2073399622582126, + -0.029375266283750534 + ], + [ + 0.031002174986327385, + 0.9614867568016054, + -0.2730971662824769, + -0.036240238696336746 + ], + [ + -0.2068268756420594, + 0.27348592877388006, + 0.9393764237453521, + 0.009419831447303295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9776994817079521, + 0.02765067294239998, + 0.2081807069483351, + -0.029044026508927345 + ], + [ + 0.03193980799941437, + 0.960184633731842, + -0.2775342936141208, + -0.03653376176953316 + ], + [ + -0.20756592138230034, + 0.2779943645000458, + 0.9378888484450062, + 0.008653270080685616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9776319973158857, + 0.027790829539299018, + 0.20847860387447317, + -0.028586696833372116 + ], + [ + 0.03254248282562921, + 0.9593074321746828, + -0.2804821367665744, + -0.03733515739440918 + ], + [ + -0.2077899072235371, + 0.28099274635314947, + 0.9369452864998113, + 0.007181583438068628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9778846795121394, + 0.02732110023498535, + 0.20735254607396972, + -0.025846034288406372 + ], + [ + 0.03286785248468841, + 0.9590361714363098, + -0.28137050205069525, + -0.03949844837188721 + ], + [ + -0.20654593711085092, + 0.28196316957473755, + 0.9369287590100399, + 0.005461425520479679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9778191362258711, + 0.027253629639744766, + 0.2076704084873465, + -0.02495458535850048 + ], + [ + 0.03345967581492241, + 0.9584397077560427, + -0.28332623544838986, + -0.03949110582470894 + ], + [ + -0.20676123103595823, + 0.2839903831481934, + 0.9362687756377598, + 0.00395933398976922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9781578586525271, + 0.026886502280831337, + 0.20611731354091734, + -0.020853128284215927 + ], + [ + 0.03358677082335159, + 0.9581257700920105, + -0.28437115049890543, + -0.040077708661556244 + ], + [ + -0.20513204592021442, + 0.28508269786834717, + 0.9362951837956182, + 0.0032591968774795532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9783051500808656, + 0.02632264979183674, + 0.20549002681827114, + -0.01830657385289669 + ], + [ + 0.03407682311950586, + 0.9579384326934814, + -0.28494333023449914, + -0.040537599474191666 + ], + [ + -0.2043472664127582, + 0.2857639491558075, + 0.936259157617551, + 0.002031467854976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9786832323783226, + 0.025764308869838715, + 0.2037529990597702, + -0.014168783091008663 + ], + [ + 0.0343554880587987, + 0.957582414150238, + -0.2861042006820763, + -0.039744362235069275 + ], + [ + -0.20248156716156374, + 0.2870054244995117, + 0.9362847206042632, + 0.0016315141692757607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9790762151352613, + 0.024666791781783104, + 0.20199337017214566, + -0.010048428550362587 + ], + [ + 0.03514693849088268, + 0.9572102427482605, + -0.2872511978603106, + -0.03873104229569435 + ], + [ + -0.20043568923089045, + 0.2883402407169342, + 0.936314830778554, + 0.0014080482069402933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9797623623587646, + 0.02333184704184532, + 0.1987998359940972, + -0.0036785821430385113 + ], + [ + 0.03574628712966002, + 0.9568221569061279, + -0.2884675245696248, + -0.03805169463157654 + ], + [ + -0.19694656641898362, + 0.28973597288131714, + 0.9366243009232297, + 0.0018324683187529445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9796685714083453, + 0.021438565105199817, + 0.1994740197566823, + -0.003477150108665228 + ], + [ + 0.037592598967040154, + 0.9570468068122866, + -0.28748604507098535, + -0.039508286863565445 + ], + [ + -0.1970692652506622, + 0.28913980722427374, + 0.9367827460089972, + -0.00015693888417445123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9802680568274588, + 0.02055411785840988, + 0.19660129958398603, + 0.0022837824653834105 + ], + [ + 0.03787625693069088, + 0.9566200971603394, + -0.2888656850203821, + -0.038120586425065994 + ], + [ + -0.19401013709738607, + 0.2906123399734497, + 0.9369656359894502, + 6.261107046157122e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9802153195947866, + 0.01957114413380623, + 0.19696411481640994, + 0.0032973703928291798 + ], + [ + 0.038920735045143345, + 0.956614077091217, + -0.2887466788146579, + -0.03842858225107193 + ], + [ + -0.19406975429610962, + 0.29069992899894714, + 0.9369261123186429, + -0.0012405960587784648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9791458970415002, + 0.01896898448467255, + 0.20227069246967339, + -0.0030830998439341784 + ], + [ + 0.04101745327610947, + 0.9566694498062136, + -0.2882727083279834, + -0.0388542115688324 + ], + [ + -0.19897443473674786, + 0.29055765271186834, + 0.9359409387954152, + -0.004204889293760061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9804540719775705, + 0.01813526451587677, + 0.19591035159126882, + 0.0078122313134372234 + ], + [ + 0.040082660465624094, + 0.9564486145973206, + -0.2891356000010848, + -0.03902797773480415 + ], + [ + -0.1926217467673397, + 0.2913368046283722, + 0.9370270946135308, + -0.004126246552914381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9802451389934594, + 0.017700264230370525, + 0.196992857159383, + 0.008189618587493896 + ], + [ + 0.04102342674087349, + 0.956133306026459, + -0.29004516848371376, + -0.03897227719426155 + ], + [ + -0.19348530160906938, + 0.29239666461944586, + 0.936518864264869, + -0.004280343651771545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9800924481348555, + 0.016854496672749523, + 0.19782505104852993, + 0.008157717995345592 + ], + [ + 0.04230897957084765, + 0.955773711204529, + -0.2910440196284793, + -0.03881730139255524 + ], + [ + -0.19398137455526446, + 0.29361984133720404, + 0.9360334537318927, + -0.00610582809895277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9799866665158294, + 0.016039585694670677, + 0.19841584515767896, + 0.008785749785602093 + ], + [ + 0.043465255113757754, + 0.9554562568664551, + -0.2919146532236258, + -0.039072874933481216 + ], + [ + -0.19425984451134448, + 0.2946966588497162, + 0.9356371942136195, + -0.007230418734252453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9799502586540421, + 0.015247568488121036, + 0.19865804258750952, + 0.009960376657545567 + ], + [ + 0.04450783614497417, + 0.95511931180954, + -0.29285858160765976, + -0.03933430463075638 + ], + [ + -0.19420751234293068, + 0.29582867026329046, + 0.9352907771814841, + -0.008351432159543037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9800122875159644, + 0.015149546787142754, + 0.19835935750482092, + 0.012422828003764153 + ], + [ + 0.04476601928799684, + 0.9547296166419983, + -0.2940873104268564, + -0.03926285356283188 + ], + [ + -0.1938348431469234, + 0.29708895087242126, + 0.9349685591967765, + -0.008852201513946056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9799685501029055, + 0.01469515636563301, + 0.19860926503969106, + 0.01424079667776823 + ], + [ + 0.04551195698155209, + 0.9543582201004028, + -0.2951762056219844, + -0.03923498094081879 + ], + [ + -0.1938820529050576, + 0.2983025312423706, + 0.934572286355379, + -0.009985119104385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.979944080876755, + 0.014255501329898834, + 0.19876203240318457, + 0.01609765738248825 + ], + [ + 0.04605185660222543, + 0.9542365074157715, + -0.29548583152075114, + -0.039727214723825455 + ], + [ + -0.19387829027849798, + 0.29871296882629395, + 0.9344419418607419, + -0.011188683100044727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9798697525514056, + 0.013773739337921146, + 0.19916203957789463, + 0.017798669636249542 + ], + [ + 0.04672809374537788, + 0.9540805220603945, + -0.2958832024947614, + -0.039527084678411484 + ], + [ + -0.19409203818472232, + 0.2992334961891175, + 0.9342310174374282, + -0.01187854167073965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.979836872087588, + 0.013498718850314617, + 0.19934264502048213, + 0.019795801490545273 + ], + [ + 0.047075285170951234, + 0.9540290236473083, + -0.29599421403506615, + -0.03965411335229874 + ], + [ + -0.1941742100523618, + 0.2994101643562317, + 0.9341573490643886, + -0.012714854441583157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9797483179555698, + 0.013105448335409164, + 0.19980357181794065, + 0.021146181970834732 + ], + [ + 0.04761021556463182, + 0.9539903402328491, + -0.2960332460065398, + -0.03992648795247078 + ], + [ + -0.1944903245163915, + 0.29955077171325684, + 0.9340464705080688, + -0.013332733884453773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9797024712825197, + 0.012848930433392525, + 0.20004506441121328, + 0.022052040323615074 + ], + [ + 0.04794742386209412, + 0.9539555907249451, + -0.29609087993912264, + -0.04038437455892563 + ], + [ + -0.19463855436219926, + 0.29967260360717773, + 0.9339765532935775, + -0.013723262585699558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9797621341500472, + 0.012294429354369644, + 0.1997875429236175, + 0.023390378803014755 + ], + [ + 0.048369588761256445, + 0.9539898633956911, + -0.2959116105728551, + -0.041218873113393784 + ], + [ + -0.19423335478453688, + 0.2995866239070893, + 0.9340884603937378, + -0.014274068176746368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9798250999648135, + 0.011615701019763947, + 0.19951912138707906, + 0.02457660436630249 + ], + [ + 0.04896567851207599, + 0.9539309144020081, + -0.296003594894134, + -0.042012229561805725 + ], + [ + -0.19376574836124155, + 0.2998013496398926, + 0.934116688765854, + -0.014613122679293156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9798865097403455, + 0.01100757997483015, + 0.19925189869842505, + 0.02558647282421589 + ], + [ + 0.04953494248673833, + 0.9538103938102722, + -0.2962971341851586, + -0.04293472692370415 + ], + [ + -0.19331004698603124, + 0.3002074658870697, + 0.9340806836643175, + -0.014837506227195263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9798915558401555, + 0.010259771719574928, + 0.19926693354885402, + 0.026170870289206505 + ], + [ + 0.0503726273954215, + 0.9536084532737732, + -0.2968054787436876, + -0.0438222661614418 + ], + [ + -0.19306779053964584, + 0.300874799489975, + 0.9339160702456106, + -0.014653231017291546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9799480575375856, + 0.009562669321894647, + 0.19902363481809307, + 0.02717563323676586 + ], + [ + 0.0511535000812582, + 0.9532966613769533, + -0.29767235311805085, + -0.04406819865107536 + ], + [ + -0.1925750990893199, + 0.30188420414924627, + 0.9336919962568032, + -0.014408111572265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9801281484133542, + 0.009050115942955017, + 0.19815885859569965, + 0.029363339766860008 + ], + [ + 0.05146658495475813, + 0.9531480669975281, + -0.2980939108247072, + -0.04449159651994705 + ], + [ + -0.19157251163293196, + 0.30236876010894775, + 0.9337414443023292, + -0.014103386551141739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9802741566029367, + 0.008848156780004501, + 0.19744449630466462, + 0.03159506991505623 + ], + [ + 0.051563665085331625, + 0.9529503583908081, + -0.2987086661482614, + -0.044138289988040924 + ], + [ + -0.1907978112505368, + 0.302997350692749, + 0.9336962980985362, + -0.013832001015543938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9801977182304689, + 0.008388788439333439, + 0.19784352163180194, + 0.03238845616579056 + ], + [ + 0.052103489683260326, + 0.9529709815979004, + -0.2985490425813866, + -0.04426499456167221 + ], + [ + -0.19104359579860541, + 0.30294540524482727, + 0.9336628789729864, + -0.013587655499577522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9801888742842079, + 0.007891487330198288, + 0.19790778824045197, + 0.03374508023262024 + ], + [ + 0.052542426930552395, + 0.9530461430549622, + -0.29823209405917966, + -0.04411334916949272 + ], + [ + -0.1909687470279727, + 0.30272236466407776, + 0.9337505793250597, + -0.012893551029264927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9801434434997814, + 0.007440454326570034, + 0.19815004195020325, + 0.0348312109708786 + ], + [ + 0.052941405767568075, + 0.953201174736023, + -0.29766545209709133, + -0.04404694586992264 + ], + [ + -0.1910916195603517, + 0.302245169878006, + 0.9338799757184764, + -0.012001294642686844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9801540416732829, + 0.007206707261502743, + 0.19810637436091824, + 0.03628191724419594 + ], + [ + 0.05304218378523506, + 0.9533676505088806, + -0.2971138760557155, + -0.043756015598773956 + ], + [ + -0.19100941594309345, + 0.3017253875732422, + 0.9340648686495432, + -0.011247974820435047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9801768549749355, + 0.007215050049126148, + 0.19799309889771613, + 0.037614237517118454 + ], + [ + 0.05283734385057734, + 0.9536243677139282, + -0.29632542405462403, + -0.04354531317949295 + ], + [ + -0.19094905496880415, + 0.3009127378463745, + 0.9343393530531151, + -0.010554447770118713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9802212042661724, + 0.007200681138783693, + 0.19777393696123108, + 0.03891344740986824 + ], + [ + 0.05261777353193693, + 0.9538871645927429, + -0.2955176786591775, + -0.0432196706533432 + ], + [ + -0.19078194681279073, + 0.3000791072845459, + 0.9346415333086694, + -0.010112387128174305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9802125111201068, + 0.0073445760644972324, + 0.19781175836324943, + 0.0396217405796051 + ], + [ + 0.05221907656351408, + 0.9543184041976929, + -0.2941931081128098, + -0.043424878269433975 + ], + [ + -0.1909361251063082, + 0.29870128631591797, + 0.9350513099890945, + -0.009692234918475151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9801417672411552, + 0.00758214620873332, + 0.19815290408511047, + 0.04007722809910774 + ], + [ + 0.051812827861615375, + 0.9547628164291382, + -0.2928196699466072, + -0.04351823776960373 + ], + [ + -0.19140923415605018, + 0.29727163910865784, + 0.9354101020640291, + -0.009074483998119831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9801791781686923, + 0.007875194773077967, + 0.19795641860619995, + 0.041406918317079544 + ], + [ + 0.05119278718840283, + 0.9552057981491091, + -0.2914810035973325, + -0.04348215088248253 + ], + [ + -0.19138459313189643, + 0.295837551355362, + 0.935869705281894, + -0.008720694109797478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9801271727895473, + 0.008488552644848824, + 0.19818835755130262, + 0.04215744882822037 + ], + [ + 0.050422178427607836, + 0.9556097388267517, + -0.2902889527616837, + -0.043374430388212204 + ], + [ + -0.1918548602686282, + 0.29451319575309753, + 0.9361910716304931, + -0.007909486070275307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9800792990056691, + 0.009077849797904493, + 0.19839899859828333, + 0.04317447170615196 + ], + [ + 0.04969800348889393, + 0.9559639096260073, + -0.28924582172912483, + -0.043367017060518265 + ], + [ + -0.19228800121523337, + 0.29334390163421636, + 0.9364692357064228, + -0.0071802944876253605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9799523010756913, + 0.009452003985643387, + 0.1990079475443315, + 0.043502938002347946 + ], + [ + 0.04934680518948957, + 0.9562346339225769, + -0.2884098306230253, + -0.04321218654513359 + ], + [ + -0.1930243358209842, + 0.2924482524394989, + 0.9365978711496967, + -0.006647646892815828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9798119110279224, + 0.009715363383293152, + 0.19968542399519248, + 0.04355468973517418 + ], + [ + 0.04912319827196928, + 0.9564980268478394, + -0.28757341643847234, + -0.043271634727716446 + ], + [ + -0.19379258710726718, + 0.291577011346817, + 0.9367108808336057, + -0.006354691460728645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9796657614118129, + 0.009856334887444973, + 0.2003942403955401, + 0.043449390679597855 + ], + [ + 0.0490579005611607, + 0.9567082524299622, + -0.2868844036726745, + -0.04333419352769852 + ], + [ + -0.1945464465969901, + 0.2908817529678345, + 0.9367707640036808, + -0.005925177130848169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9796777889076381, + 0.009932444430887699, + 0.20033161122129745, + 0.04435497149825096 + ], + [ + 0.0488872621918242, + 0.9568285942077637, + -0.28651200288032075, + -0.0431438647210598 + ], + [ + -0.19452878037358406, + 0.2904830873012543, + 0.9368981554617243, + -0.005606982856988907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9794233867497143, + 0.010340643115341663, + 0.20155137089391142, + 0.043658480048179626 + ], + [ + 0.04879656273182373, + 0.9569211006164551, + -0.2862182183306581, + -0.042713988572359085 + ], + [ + -0.19582844237004604, + 0.2901638150215149, + 0.9367263356399341, + -0.005343505181372166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9792977944077872, + 0.010536699555814266, + 0.20215057063178796, + 0.04376025125384331 + ], + [ + 0.04868852485915059, + 0.957065999507904, + -0.28575176046649553, + -0.0423591285943985 + ], + [ + -0.19648231925831988, + 0.2896784543991089, + 0.9367396134749038, + -0.005323128774762154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9790707569147874, + 0.010891634970903398, + 0.20322854925940936, + 0.04342944920063019 + ], + [ + 0.04848824628853408, + 0.957329332828522, + -0.284902423502686, + -0.042486004531383514 + ], + [ + -0.19765970652761014, + 0.288793832063675, + 0.9367650450298043, + -0.0048584057949483395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9787913166818943, + 0.011450154706835747, + 0.20453955970391166, + 0.04290878027677536 + ], + [ + 0.04822173941605494, + 0.9575045108795166, + -0.28435865277838535, + -0.04225385934114456 + ], + [ + -0.19910349463673122, + 0.288191020488739, + 0.9366449252740415, + -0.004670918453484774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9785052405516979, + 0.011858062818646431, + 0.20588077729810125, + 0.04237155243754387 + ], + [ + 0.04809192702475318, + 0.957697331905365, + -0.2837304157111698, + -0.04238681122660637 + ], + [ + -0.20053596790795203, + 0.28753289580345154, + 0.936541596605983, + -0.0043692742474377155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9782224556332084, + 0.012128437869250774, + 0.20720467948508886, + 0.04183276742696762 + ], + [ + 0.04808561365004512, + 0.9578892588615417, + -0.2830830286447186, + -0.04251337796449661 + ], + [ + -0.20191247871671783, + 0.2868817150592804, + 0.9364455247347995, + -0.0041605569422245026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9780277285622601, + 0.012183948419988155, + 0.20811845130455342, + 0.041630808264017105 + ], + [ + 0.04817243818489085, + 0.9580661058425903, + -0.28246898632517875, + -0.04233820363879204 + ], + [ + -0.20283282309228576, + 0.2862880825996399, + 0.9364282948282779, + -0.00395307457074523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9778446900627039, + 0.012012994848191738, + 0.2089865845340517, + 0.04139115288853645 + ], + [ + 0.04837548599960296, + 0.9583596587181091, + -0.28143663530787755, + -0.04264175519347191 + ], + [ + -0.20366522218059702, + 0.28531113266944885, + 0.9365458365977075, + -0.0036976919509470463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9776958978386983, + 0.012110580690205097, + 0.20967615346230165, + 0.04027066379785538 + ], + [ + 0.048396244271397604, + 0.9584789872169495, + -0.28102645121900166, + -0.04248373955488205 + ], + [ + -0.20437358194472227, + 0.28490594029426575, + 0.9365148714082392, + -0.003177390666678548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9774709669067144, + 0.012454718351364136, + 0.21070204953618904, + 0.03997959569096565 + ], + [ + 0.048377525127455245, + 0.9584629535675049, + -0.2810841787396282, + -0.04160626605153084 + ], + [ + -0.20545094006035167, + 0.28494489192962646, + 0.9362672152629413, + -0.003533156355842948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9771631659317338, + 0.011867624707520008, + 0.212158782807824, + 0.03988258168101311 + ], + [ + 0.04927944405382327, + 0.9585614800453186, + -0.2805912839237764, + -0.04149898141622543 + ], + [ + -0.20669717361011014, + 0.28463855385780334, + 0.9360860779407388, + -0.003149065189063549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9768237484817869, + 0.011898798868060112, + 0.21371435122242605, + 0.03939353674650192 + ], + [ + 0.04968751642880133, + 0.9585740566253662, + -0.2804763725840315, + -0.041707925498485565 + ], + [ + -0.20819835151817886, + 0.28459489345550537, + 0.9357666229231102, + -0.003162121633067727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9764254208614258, + 0.011795263737440113, + 0.21553246394096942, + 0.03862437233328819 + ], + [ + 0.050237785093473465, + 0.9586682319641116, + -0.2800561654524854, + -0.04250091686844826 + ], + [ + -0.2099274652586899, + 0.2842818200588227, + 0.9354754749931751, + -0.0033562583848834038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.976191961005354, + 0.012376344762742523, + 0.21655495146017517, + 0.03847857937216759 + ], + [ + 0.05013245074521803, + 0.958466172218323, + -0.2807657023065144, + -0.04213077202439308 + ], + [ + -0.21103545026032122, + 0.2849376797676087, + 0.9350265205107333, + -0.003097075968980789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9758673477149986, + 0.012780892662703994, + 0.21798976539231488, + 0.03783102706074715 + ], + [ + 0.05023089424851881, + 0.9583755731582644, + -0.2810571544085445, + -0.04196108877658844 + ], + [ + -0.2125082341144523, + 0.28522434830665594, + 0.9346054591572759, + -0.0029931210447102785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9755516176070839, + 0.013170582242310047, + 0.219375424155205, + 0.037223026156425476 + ], + [ + 0.05019410548809604, + 0.9584664106369019, + -0.28075387466152824, + -0.04206741228699684 + ], + [ + -0.21396166597153116, + 0.2849012613296509, + 0.9343723617458493, + -0.002935438184067607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9751431068044072, + 0.013317734003067017, + 0.22117532099331463, + 0.036100123077631 + ], + [ + 0.05046510677183014, + 0.9586091041564941, + -0.2802175209261173, + -0.04192621633410454 + ], + [ + -0.21575254873790994, + 0.28441381454467773, + 0.9341090227188281, + -0.003032860578969121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9746471664557227, + 0.01368729118257761, + 0.22332848953560683, + 0.03447110205888748 + ], + [ + 0.05067012300809113, + 0.9586939811706543, + -0.279890020109594, + -0.04150598123669624 + ], + [ + -0.21793460895651298, + 0.28411009907722473, + 0.9336948102137401, + -0.0030977746937423944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9741646142321111, + 0.013676067814230922, + 0.22542452464456814, + 0.03323252499103546 + ], + [ + 0.05112156163313703, + 0.9589017629623415, + -0.2790948449225348, + -0.041792698204517365 + ], + [ + -0.2199769036129606, + 0.2834084033966065, + 0.9334290638603738, + -0.0031217478681355715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9736175474010021, + 0.013848480768501759, + 0.22776544649378935, + 0.03139755502343178 + ], + [ + 0.05158470442659831, + 0.9589590430259705, + -0.2788127048214611, + -0.04148568958044052 + ], + [ + -0.22227887390164236, + 0.28320616483688354, + 0.932945011983171, + -0.0033993725664913654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.973120406917392, + 0.01372866798192263, + 0.22988730794524953, + 0.029860859736800194 + ], + [ + 0.052261258979382115, + 0.9590147137641909, + -0.2784951104243997, + -0.04121454060077667 + ], + [ + -0.22428868021838802, + 0.2830235064029694, + 0.9325193219043834, + -0.0035717689897865057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9726839502758873, + 0.013748432509601116, + 0.23172603248452586, + 0.02913828007876873 + ], + [ + 0.052806582278034246, + 0.9589675068855286, + -0.27855486758029646, + -0.04093252494931221 + ], + [ + -0.22604741600285858, + 0.2831825017929077, + 0.9320462459857939, + -0.0033419777173548937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9722278985344761, + 0.013619882985949516, + 0.23363954449356833, + 0.028346363455057144 + ], + [ + 0.05350829221778147, + 0.9589269757270813, + -0.27856040707215735, + -0.041026771068573 + ], + [ + -0.22783721764552628, + 0.28332582116127014, + 0.9315667710158781, + -0.0033579347655177116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.97168895808694, + 0.013129913248121738, + 0.23589864747092423, + 0.02695402130484581 + ], + [ + 0.05467377723798642, + 0.9588568210601807, + -0.2785756191316507, + -0.040978942066431046 + ], + [ + -0.2298507020193449, + 0.2835863530635834, + 0.9309927271099504, + -0.0036072288639843464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9708048548362956, + 0.012918918393552303, + 0.23952258653285363, + 0.023330286145210266 + ], + [ + 0.05598124018656856, + 0.9587716460227966, + -0.27860901775795277, + -0.04022139683365822 + ], + [ + -0.2332467916610192, + 0.2838837802410126, + 0.930056951209982, + -0.00381837016902864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9702581570691936, + 0.012471792288124561, + 0.24175098131669426, + 0.02182372473180294 + ], + [ + 0.05696438377600494, + 0.9588639736175537, + -0.27809157437318266, + -0.04010661691427231 + ], + [ + -0.23527461738468455, + 0.2835918068885803, + 0.9296351862841894, + -0.0038902410306036472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9698381000328563, + 0.012243223376572132, + 0.24344236236529462, + 0.021161669865250587 + ], + [ + 0.057624377254790256, + 0.9589112401008606, + -0.2777925743563855, + -0.040089450776576996 + ], + [ + -0.23684068496894756, + 0.28344202041625977, + 0.9292831118165605, + -0.003839882556349039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9694422191358184, + 0.012170713394880295, + 0.24501763786573436, + 0.020756255835294724 + ], + [ + 0.058183354306306986, + 0.9588640332221985, + -0.2778390114484301, + -0.04009348899126053 + ], + [ + -0.23832009162870837, + 0.28360480070114136, + 0.9288551124589943, + -0.0037067641969770193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9689852730133879, + 0.012092404067516327, + 0.24682244636664738, + 0.019993698224425316 + ], + [ + 0.05884163232037411, + 0.9587841629981995, + -0.27797585751633114, + -0.04007174074649811 + ], + [ + -0.24001085539273576, + 0.283877968788147, + 0.9283362202995573, + -0.003585551166906953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9684741873344438, + 0.012219628319144249, + 0.24881410884489832, + 0.0189672838896513 + ], + [ + 0.059445698845723816, + 0.9586056470870972, + -0.27846262122914933, + -0.039882104843854904 + ], + [ + -0.24191731281200607, + 0.28447476029396057, + 0.9276583983583612, + -0.003567151725292206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9680742251895464, + 0.01232461910694838, + 0.25036062953840793, + 0.01848020777106285 + ], + [ + 0.05982085304165072, + 0.9585719108581545, + -0.27849850039535234, + -0.040425773710012436 + ], + [ + -0.24342104211124518, + 0.2845840156078339, + 0.9272314406205572, + -0.003761939238756895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9675985754586957, + 0.012797458097338676, + 0.25216894036434445, + 0.01774086244404316 + ], + [ + 0.06004676094995921, + 0.9583991169929504, + -0.2790440059215065, + -0.04041120037436485 + ], + [ + -0.2452495471842277, + 0.28514450788497925, + 0.9265771885614046, + -0.003669335972517729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9671244402572774, + 0.013290473259985447, + 0.2539560983046699, + 0.017074361443519592 + ], + [ + 0.0602087021732438, + 0.9582738876342773, + -0.27943892882012816, + -0.04021778330206871 + ], + [ + -0.24707336546037387, + 0.2855425775051117, + 0.9259698655028077, + -0.00398229667916894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/pull_out/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..459b27ccfb73ae0aba75cd1652c1eeb495cf6528 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/pull_out/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.29400126147084e-05, + 0.00024093473621178418, + -0.00024388876510942202 + ], + [ + 7.308429485419765e-05, + 0.9999998211860657, + -0.0005989032797515392, + 0.0007020027779103459 + ], + [ + -0.00024089102225843817, + 0.0005989208584651351, + 0.9999998211860657, + -0.0007692590155942446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 7.64142896514386e-06, + 0.00039224125794135034, + -0.000443066099156251 + ], + [ + -7.184681635408197e-06, + 0.9999993443489075, + -0.0011644421610981226, + 0.0013874618177119966 + ], + [ + -0.00039224987267516553, + 0.0011644393671303988, + 0.9999992251396179, + -0.00144523806419507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.649810140719637e-05, + 0.0007247389294207096, + -0.0008927879629798396 + ], + [ + -7.541389641119167e-05, + 0.9999988675117493, + -0.0014958935789763927, + 0.0017968927836551777 + ], + [ + -0.0007248525507748127, + 0.0014958386309444904, + 0.9999986290931702, + -0.0021133563061163803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + 1.2577570487337653e-05, + 0.0007771732634864748, + -0.0012318907253717518 + ], + [ + -1.0976172234222759e-05, + 0.9999978542327881, + -0.002060511615127325, + 0.0021017982533363543 + ], + [ + -0.0007771974778734148, + 0.002060502301901579, + 0.9999975562095642, + -0.002795562231609517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860657, + 0.00019054125004913658, + 0.0005764178349636495, + -0.0013157308413887538 + ], + [ + -0.00018902587180491537, + 0.999996542930603, + -0.0026278733275830746, + 0.002208431062804859 + ], + [ + -0.0005769165582023561, + 0.0026277638971805573, + 0.9999963641166687, + -0.003340453514323124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.0004889839328825474, + 0.0005974089144729078, + -0.0015561338299607008 + ], + [ + -0.000487010576762259, + 0.9999944567680359, + -0.0032989170867949724, + 0.002294720014628104 + ], + [ + -0.0005990187055431306, + 0.0032986251171678305, + 0.9999943971633911, + -0.0039723345938989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007110527949407697, + 0.0004320366424508393, + -0.0017779203560443738 + ], + [ + -0.00070937629789114, + 0.9999922513961792, + -0.003868312109261751, + 0.0023672842600322127 + ], + [ + -0.0004347838694229722, + 0.0038680043071508408, + 0.9999924302101135, + -0.004601642386684114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007128954166546464, + 0.0004006489471066743, + -0.0025361947777286253 + ], + [ + -0.0007112507009878755, + 0.9999913573265076, + -0.004090489353984594, + 0.0022105488136572684 + ], + [ + -0.0004035616002511233, + 0.004090203437954187, + 0.9999915361404419, + -0.0056035716086626055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.0007943193195387721, + 0.00035233303788118064, + -0.003176121229705092 + ], + [ + -0.0007925998652353883, + 0.9999879002571106, + -0.004853838123381138, + 0.0029885131850555216 + ], + [ + -0.0003561842895578593, + 0.004853556863963604, + 0.9999881386756897, + -0.006282709428595136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006670414004474878, + 0.00016822533507365733, + -0.0035999775286061617 + ], + [ + -0.000666158040985465, + 0.9999862909317017, + -0.005197789985686541, + 0.00353628488348635 + ], + [ + -0.00017169017519336194, + 0.0051976763643324375, + 0.999986469745636, + -0.007066011600925222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0005030512111261487, + -0.0004504503740463406, + -0.00343983621343163 + ], + [ + -0.00050563202239573, + 0.9999833703041077, + -0.005747856106609106, + 0.004332564411047117 + ], + [ + 0.00044755139970220625, + 0.005748082417994738, + 0.9999833703041077, + -0.007810675872125379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.0005004483973607421, + -0.0012349014868959785, + -0.0029809322671296642 + ], + [ + -0.0005081002600491047, + 0.999980628490448, + -0.006203807424753904, + 0.004937248937178241 + ], + [ + 0.0012317729415372014, + 0.0062044295482337475, + 0.9999799728393555, + -0.008345883061259014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.000537351006641984, + -0.0012318185763433576, + -0.003251040032141052 + ], + [ + -0.0005456472281366587, + 0.9999771118164062, + -0.006744516082108021, + 0.005284341404963608 + ], + [ + 0.0012281661620363593, + 0.006745181977748871, + 0.9999765157699585, + -0.009123223370103083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009534736745990813, + -0.0011021787067875266, + -0.003469610305720657 + ], + [ + -0.000961759767960757, + 0.9999710917472839, + -0.0075419871136546135, + 0.005427264921245692 + ], + [ + 0.0010949558345600963, + 0.007543039508163929, + 0.9999709725379944, + -0.009654343686997892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.0011162854498252273, + -0.0011227973736822605, + -0.0034433685093814424 + ], + [ + -0.001126102521084249, + 0.9999608397483826, + -0.008781137876212597, + 0.0057208735480621135 + ], + [ + 0.001112951198592782, + 0.00878239143639803, + 0.9999608397483826, + -0.010181025186877536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.0010198316304013133, + -0.0009416394750587642, + -0.003558820132267378 + ], + [ + -0.001029227045364678, + 0.9999491572380066, + -0.010031781159341335, + 0.005907036914773609 + ], + [ + 0.0009313608170486987, + 0.01003274042159319, + 0.9999492168426514, + -0.010859332065624387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007766605704091489, + -0.0005797529593110085, + -0.003743168288011752 + ], + [ + -0.0007832953124307096, + 0.9999331831932068, + -0.011532947421073914, + 0.006057931037376756 + ], + [ + 0.0005707570817321539, + 0.011533396318554878, + 0.9999333024024963, + -0.011599938241440965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008707321248948574, + -0.0002847291762009263, + -0.003816628321858487 + ], + [ + -0.0008743436774238944, + 0.9999158978462219, + -0.012939990498125553, + 0.006259556496313408 + ], + [ + 0.00027343793772161007, + 0.012940234504640102, + 0.9999162554740906, + -0.012602508023543202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999995231628418, + 0.0009543554042465985, + 0.0003136252926196903, + -0.004055505931904443 + ], + [ + -0.0009497980936430395, + 0.999898374080658, + -0.014223447069525719, + 0.00675956457954548 + ], + [ + -0.00032716765417717397, + 0.014223141595721245, + 0.9998987913131714, + -0.013649815495085458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0009250862058252096, + 0.0011267464142292738, + -0.004243826845397606 + ], + [ + -0.0009077693102881312, + 0.9998829364776611, + -0.015273701399564743, + 0.007510806899517775 + ], + [ + -0.0011407439596951008, + 0.015272662043571472, + 0.999882698059082, + -0.01433906074532348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816956, + 0.0009937994182109833, + 0.002146285492926836, + -0.004763138949435771 + ], + [ + -0.0009599670302122831, + 0.9998762011528015, + -0.01570713147521019, + 0.007888841525772992 + ], + [ + -0.0021616294980049133, + 0.01570502668619156, + 0.9998743534088135, + -0.015411357269824847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819702, + 0.0008153708768077195, + 0.003173352684825659, + -0.005201969008751052 + ], + [ + -0.0007638561655767262, + 0.9998684525489807, + -0.016201015561819077, + 0.008189502321993527 + ], + [ + -0.003186145331710577, + 0.016198504716157913, + 0.9998637437820435, + -0.016377797977917868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0009345848229713738, + 0.003337858011946082, + -0.004135362777742557 + ], + [ + -0.0008764644735492766, + 0.9998487234115601, + -0.017371680587530136, + 0.009172540856525302 + ], + [ + -0.003353588515892625, + 0.017368651926517487, + 0.9998435378074646, + -0.016610248293727637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.0008287678356282413, + 0.0045023406855762005, + -0.004402824452794764 + ], + [ + -0.000745337747503072, + 0.999828577041626, + -0.01850055903196335, + 0.009716939553618431 + ], + [ + -0.0045169019140303135, + 0.018497008830308914, + 0.999818742275238, + -0.017286487450094326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112122, + 0.0006885568145662546, + 0.005930440034717321, + -0.0047672232600313655 + ], + [ + -0.0005718327593058348, + 0.9998065233230591, + -0.01966145448386669, + 0.010309423011241724 + ], + [ + -0.005942830350250006, + 0.019657714292407036, + 0.9997891187667847, + -0.01808222938005043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 0.00027616453007794917, + 0.007445462979376316, + -0.004895178444238137 + ], + [ + -0.00012348577729426324, + 0.9997898936271667, + -0.02049895189702511, + 0.010855953296160568 + ], + [ + -0.0074495598673820496, + 0.020497461780905724, + 0.9997621774673462, + -0.019000892964718134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412781, + -0.00036024575820192695, + 0.00870597269386053, + -0.004848868823509015 + ], + [ + 0.0005401443922892213, + 0.9997861981391907, + -0.02067030780017376, + 0.01132654235597052 + ], + [ + -0.008696665056049824, + 0.02067422680556774, + 0.9997484683990479, + -0.0197964194473689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.000709950749296695, + 0.009997879154980183, + -0.005087738708876397 + ], + [ + 0.000913787807803601, + 0.9997915029525757, + -0.020398246124386787, + 0.011913281075818384 + ], + [ + -0.009981312789022923, + 0.02040635608136654, + 0.9997419714927673, + -0.02083082490236215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0013528461568057537, + 0.011150604113936424, + -0.005464581625900515 + ], + [ + 0.0015737633220851421, + 0.9998021721839905, + -0.019827229902148247, + 0.012191808121481344 + ], + [ + -0.01112157478928566, + 0.019843528047204018, + 0.99974125623703, + -0.021639529696625213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.0016329752979800105, + 0.012118174694478512, + -0.005812662435978975 + ], + [ + 0.0018681212095543742, + 0.9998096823692322, + -0.019418517127633095, + 0.012508955207126944 + ], + [ + -0.012084159068763256, + 0.019439702853560448, + 0.9997379779815674, + -0.02210755277748989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0021301365923136473, + 0.01295301504433155, + -0.006383226563870583 + ], + [ + 0.0023827843833714724, + 0.9998065829277039, + -0.019520897418260574, + 0.012974669450246121 + ], + [ + -0.012908928096294403, + 0.019550081342458725, + 0.9997255206108093, + -0.022719284632931585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.002467246726155281, + 0.013769915327429771, + -0.006971575080862512 + ], + [ + 0.002741764299571514, + 0.9997971653938293, + -0.01995289884507656, + 0.013776140157943187 + ], + [ + -0.0137178935110569, + 0.01998869888484478, + 0.9997060894966125, + -0.023386273006706135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353088, + -0.002840029774233699, + 0.014727404341101646, + -0.007566654988888489 + ], + [ + 0.0031446802895516157, + 0.9997807145118713, + -0.020704224705696106, + 0.014964182869247769 + ], + [ + -0.014665374532341957, + 0.020748209208250046, + 0.9996771812438965, + -0.023865692843885525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999869704246521, + -0.0029583810828626156, + 0.01586814410984516, + -0.008183607801228114 + ], + [ + 0.0032985173165798187, + 0.9997644424438477, + -0.021452007815241814, + 0.01612093927865119 + ], + [ + -0.015800943598151207, + 0.021501554176211357, + 0.9996439218521118, + -0.024555328885174317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0031880491878837347, + 0.01670588180422783, + -0.008378737818692689 + ], + [ + 0.0035494978073984385, + 0.9997592568397522, + -0.021651223301887512, + 0.016624165739378204 + ], + [ + -0.016632836312055588, + 0.021707389503717422, + 0.9996259808540344, + -0.02512506743812043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358826, + -0.0034013534896075726, + 0.017632387578487396, + -0.0087220948756389 + ], + [ + 0.0037892842665314674, + 0.9997504949569702, + -0.02201450802385807, + 0.017244890903163217 + ], + [ + -0.017553109675645828, + 0.02207777090370655, + 0.9996021389961243, + -0.025620183393197212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703186, + -0.0038147722370922565, + 0.018518278375267982, + -0.009418426349799594 + ], + [ + 0.004231736529618502, + 0.9997372031211853, + -0.022529657930135727, + 0.01797804066951832 + ], + [ + -0.018427466973662376, + 0.022603996098041534, + 0.9995746612548828, + -0.026483767969614786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.004257365129888058, + 0.019327698275446892, + -0.010248378569098271 + ], + [ + 0.004697722382843494, + 0.9997290968894958, + -0.022795794531702995, + 0.01824089427397627 + ], + [ + -0.019225412979722023, + 0.02288212440907955, + 0.9995533227920532, + -0.02662999674110957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.004344628192484379, + 0.019853176549077034, + -0.010870439614898161 + ], + [ + 0.004809228703379631, + 0.9997142553329468, + -0.02341434173285961, + 0.018874098547815306 + ], + [ + -0.019745776429772377, + 0.023504985496401787, + 0.999528706073761, + -0.026805366118155097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872742, + -0.004273205995559692, + 0.019879784435033798, + -0.011082713654183823 + ], + [ + 0.004749181680381298, + 0.9997016787528992, + -0.023957451805472374, + 0.019454052631297836 + ], + [ + -0.019771479070186615, + 0.02404691092669964, + 0.9995152950286865, + -0.027142578250040177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.004034793470054865, + 0.019967637956142426, + -0.011314164932169343 + ], + [ + 0.00453932723030448, + 0.9996699094772339, + -0.025287102907896042, + 0.020947265793042985 + ], + [ + -0.01985901966691017, + 0.025372494012117386, + 0.9994807839393616, + -0.02723166603676003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.003648292040452361, + 0.020054861903190613, + -0.01157548009701397 + ], + [ + 0.004184782970696688, + 0.999632716178894, + -0.026774615049362183, + 0.022672719994316932 + ], + [ + -0.019949816167354584, + 0.02685297653079033, + 0.9994403123855591, + -0.02738450763585127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.00383543292991817, + 0.020006857812404633, + -0.011788100631826597 + ], + [ + 0.00437692366540432, + 0.9996233582496643, + -0.02709207870066166, + 0.02302617604702549 + ], + [ + -0.019895412027835846, + 0.027174023911356926, + 0.9994326829910278, + -0.027689415463448868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.004099968355149031, + 0.02002454176545143, + -0.01204460006531166 + ], + [ + 0.004638054873794317, + 0.999627411365509, + -0.026899252086877823, + 0.02276187659767659 + ], + [ + -0.019906792789697647, + 0.026986505836248398, + 0.9994375705718994, + -0.02801366265782196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943787, + -0.004152627661824226, + 0.01996457204222679, + -0.012250510479687997 + ], + [ + 0.004697425290942192, + 0.9996157288551331, + -0.02731921523809433, + 0.02319564514429025 + ], + [ + -0.019843455404043198, + 0.027407318353652954, + 0.9994273781776428, + -0.02839551001544232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.003944906406104565, + 0.02015707828104496, + -0.012884047301486134 + ], + [ + 0.0045133475214242935, + 0.9995911717414856, + -0.02823333442211151, + 0.023834938928484917 + ], + [ + -0.020037459209561348, + 0.02831835299730301, + 0.9993981122970581, + -0.02838592608459294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107727, + -0.0032675720285624266, + 0.020181545987725258, + -0.013359138089151162 + ], + [ + 0.0038687323685735464, + 0.9995477795600891, + -0.02982078120112419, + 0.02505203110732786 + ], + [ + -0.020074976608157158, + 0.029892627149820328, + 0.9993515014648438, + -0.028242027623902842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.002861427143216133, + 0.021231308579444885, + -0.015220156765502433 + ], + [ + 0.003516518510878086, + 0.9995168447494507, + -0.03088207170367241, + 0.025602531708453013 + ], + [ + -0.021132685244083405, + 0.03094964474439621, + 0.9992974996566772, + -0.028594934877575095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862, + -0.002301783300936222, + 0.021792083978652954, + -0.016107353811030803 + ], + [ + 0.003009514417499304, + 0.9994671940803528, + -0.032499637454748154, + 0.026745333812078057 + ], + [ + -0.021705664694309235, + 0.0325574167072773, + 0.999234139919281, + -0.028687066121188844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.0019446497317403555, + 0.021882113069295883, + -0.016341208662513807 + ], + [ + 0.002689081011340022, + 0.9994167685508728, + -0.03404226154088974, + 0.027881979172968346 + ], + [ + -0.021803151816129684, + 0.03409288823604584, + 0.999180793762207, + -0.028629191310914313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -0.001641829265281558, + 0.021979989483952522, + -0.016581438063724856 + ], + [ + 0.002427538624033332, + 0.9993571639060974, + -0.03576776385307312, + 0.02923006932048694 + ], + [ + -0.021907133981585503, + 0.03581243008375168, + 0.9991183876991272, + -0.028752651273110965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + -0.0011024021077901125, + 0.022024111822247505, + -0.0165094835481242 + ], + [ + 0.001948375254869461, + 0.9992595314979553, + -0.03842678666114807, + 0.03151093436324078 + ], + [ + -0.02196544222533703, + 0.03846035152673721, + 0.999018669128418, + -0.028613979131509752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + -0.0002417459909338504, + 0.021403763443231583, + -0.015448363370302578 + ], + [ + 0.0011531555792316794, + 0.9990924000740051, + -0.04257965460419655, + 0.03530665300179111 + ], + [ + -0.021374043077230453, + 0.04259457811713219, + 0.9988637566566467, + -0.02817611314619527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + 0.0002510111080482602, + 0.021014317870140076, + -0.014720413777167382 + ], + [ + 0.0007272117072716355, + 0.9989166259765625, + -0.04652971401810646, + 0.03844709676164 + ], + [ + -0.021003231406211853, + 0.04653472080826759, + 0.9986958503723145, + -0.02793867719845603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + 0.001443485263735056, + 0.020757440477609634, + -0.014028975122567752 + ], + [ + -0.0003878616844303906, + 0.9987103343009949, + -0.05076955258846283, + 0.04161262176121059 + ], + [ + -0.02080395445227623, + 0.05075050890445709, + 0.9984946846961975, + -0.02720717153430957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.0023793992586433887, + 0.02051977999508381, + -0.013425271885226603 + ], + [ + -0.0012360119726508856, + 0.9984548687934875, + -0.055554915219545364, + 0.04541580804988094 + ], + [ + -0.020620262250304222, + 0.05551769956946373, + 0.9982447624206543, + -0.026835496452353575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.004298734944313765, + 0.020192652940750122, + -0.012334635699896708 + ], + [ + -0.003020811825990677, + 0.9980155229568481, + -0.06289596855640411, + 0.05250004945403856 + ], + [ + -0.020422954112291336, + 0.06282156705856323, + 0.9978157877922058, + -0.025302150877921478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.005073931999504566, + 0.018658915534615517, + -0.009858837879627295 + ], + [ + -0.0037986915558576584, + 0.9976946711540222, + -0.06775601953268051, + 0.05687368702467369 + ], + [ + -0.018959691748023033, + 0.06767246872186661, + 0.9975274205207825, + -0.02487053417236261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.004383104387670755, + 0.021516947075724602, + -0.014221114508362245 + ], + [ + -0.002972166985273361, + 0.9978695511817932, + -0.06517262756824493, + 0.052528875183476056 + ], + [ + -0.021756766363978386, + 0.06509296596050262, + 0.9976419806480408, + -0.02658974375251843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.006276203319430351, + 0.0191669762134552, + -0.010873031316568022 + ], + [ + -0.00483538955450058, + 0.9972231984138489, + -0.07431375235319138, + 0.06235281677673692 + ], + [ + -0.019580163061618805, + 0.07420595735311508, + 0.9970507025718689, + -0.023920782517803753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.013463468290865421, + 0.01185617595911026, + -0.0006887353169630565 + ], + [ + -0.012277067638933659, + 0.995400607585907, + -0.09500975161790848, + 0.08460409410054917 + ], + [ + -0.013080805540084839, + 0.09484890848398209, + 0.9954057335853577, + -0.015087291744092235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605164, + 0.007106535602360964, + 0.02068468928337097, + -0.013435666425072629 + ], + [ + -0.0055058724246919155, + 0.997059166431427, + -0.07643726468086243, + 0.06226482725013857 + ], + [ + -0.02116706222295761, + 0.076305091381073, + 0.9968597888946533, + -0.02513762734344472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.00595441646873951, + 0.022774621844291687, + -0.016645569249015786 + ], + [ + -0.004311687313020229, + 0.9974305033683777, + -0.07151050120592117, + 0.05356941287527266 + ], + [ + -0.023141905665397644, + 0.0713924840092659, + 0.9971798062324524, + -0.02705766288563609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.005955101922154427, + 0.02482219971716404, + -0.020039314533705298 + ], + [ + -0.004120660945773125, + 0.9973006844520569, + -0.07330973446369171, + 0.05323762666919957 + ], + [ + -0.025191763415932655, + 0.0731835663318634, + 0.9970002770423889, + -0.028068394797003786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.006376426201313734, + 0.02538127824664116, + -0.02162166659558273 + ], + [ + -0.0044679357670247555, + 0.9972071647644043, + -0.07455149292945862, + 0.05182971424706604 + ], + [ + -0.025785762816667557, + 0.07441255450248718, + 0.996894121170044, + -0.028317133106453264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515503, + 0.006418973207473755, + 0.02483879216015339, + -0.021770370607871726 + ], + [ + -0.004500090144574642, + 0.9970554113388062, + -0.07655216753482819, + 0.05086914833797061 + ], + [ + -0.025257037952542305, + 0.07641519606113434, + 0.9967561364173889, + -0.028476795744474814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469055, + 0.006868094205856323, + 0.024720177054405212, + -0.02223295030872459 + ], + [ + -0.004879595711827278, + 0.9968133568763733, + -0.07961994409561157, + 0.05019074037023213 + ], + [ + -0.02518824115395546, + 0.0794731080532074, + 0.9965187311172485, + -0.028458693388687534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.0070471568033099174, + 0.025016335770487785, + -0.023196175981960866 + ], + [ + -0.00497843511402607, + 0.9966351389884949, + -0.08181419223546982, + 0.04764502066309038 + ], + [ + -0.025508718565106392, + 0.08166200667619705, + 0.9963335990905762, + -0.029336741015962932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.007975968532264233, + 0.025857478380203247, + -0.02471079267561436 + ], + [ + -0.005721102003008127, + 0.9962671995162964, + -0.08613325655460358, + 0.0466677276417613 + ], + [ + -0.026447951793670654, + 0.08595378696918488, + 0.9959480166435242, + -0.029825114645063884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.008404552936553955, + 0.025899531319737434, + -0.02497031417189409 + ], + [ + -0.006032766308635473, + 0.9958935976028442, + -0.09033027291297913, + 0.04451123803206112 + ], + [ + -0.026552362367510796, + 0.09014053642749786, + 0.9955750107765198, + -0.0294471196020427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.009213109500706196, + 0.026887476444244385, + -0.026603552942042766 + ], + [ + -0.006625215522944927, + 0.9954745173454285, + -0.09479790925979614, + 0.041881013337684715 + ], + [ + -0.027639180421829224, + 0.0945814698934555, + 0.9951333403587341, + -0.030321381565021434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.009413432329893112, + 0.02715360000729561, + -0.027123849126307862 + ], + [ + -0.006644922774285078, + 0.9949347972869873, + -0.10030249506235123, + 0.039714265679535656 + ], + [ + -0.02796025201678276, + 0.10008063167333603, + 0.9945864081382751, + -0.03047160341039947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278503, + 0.010448411107063293, + 0.028303269296884537, + -0.028863234674234104 + ], + [ + -0.007394106592983007, + 0.9943445324897766, + -0.1059446632862091, + 0.03714979243991168 + ], + [ + -0.02925015613436699, + 0.10568715631961823, + 0.9939691424369812, + -0.030914535745978355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999527096748352, + 0.010755124501883984, + 0.028808332979679108, + -0.02989194633682137 + ], + [ + -0.007457084022462368, + 0.9936536550521851, + -0.11223530024290085, + 0.03510086205180572 + ], + [ + -0.029832608997821808, + 0.11196739226579666, + 0.9932639598846436, + -0.03151536736151447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.01173768937587738, + 0.02939232997596264, + -0.03031795828744931 + ], + [ + -0.00817660242319107, + 0.9929239153862, + -0.11847055703401566, + 0.0326392254387231 + ], + [ + -0.030574915930628777, + 0.11817087978124619, + 0.9925224781036377, + -0.031241999331699764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.01284224446862936, + 0.030594753101468086, + -0.03172207027268798 + ], + [ + -0.008924922905862331, + 0.9921296834945679, + -0.12489606440067291, + 0.02988118134115053 + ], + [ + -0.03195790946483612, + 0.12455423176288605, + 0.9916980266571045, + -0.031519881028520026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.013437540270388126, + 0.03142225742340088, + -0.03258175794845042 + ], + [ + -0.009216981939971447, + 0.9913663864135742, + -0.13079671561717987, + 0.026437718769454437 + ], + [ + -0.03290855139493942, + 0.1304306834936142, + 0.9909111261367798, + -0.031804272743022964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394226, + 0.014365378767251968, + 0.032401151955127716, + -0.033505202724557856 + ], + [ + -0.009735409170389175, + 0.9902763962745667, + -0.13877291977405548, + 0.025627669789220976 + ], + [ + -0.034079618752002716, + 0.13837029039859772, + 0.9897940158843994, + -0.031668123270830385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.014735107310116291, + 0.03306347131729126, + -0.033910925362421115 + ], + [ + -0.009789164178073406, + 0.9893760681152344, + -0.14504872262477875, + 0.02309244737514983 + ], + [ + -0.03484951704740524, + 0.14462999999523163, + 0.9888719320297241, + -0.0316555790198238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.015337885357439518, + 0.03431614488363266, + -0.034643714842589005 + ], + [ + -0.009993080981075764, + 0.9885103702545166, + -0.15082229673862457, + 0.020967155249546402 + ], + [ + -0.03623516112565994, + 0.15037278831005096, + 0.9879651069641113, + -0.03219534460779117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.015444952994585037, + 0.03600665554404259, + -0.035540228675160074 + ], + [ + -0.00962134450674057, + 0.9876108169555664, + -0.15662787854671478, + 0.019578210839434812 + ], + [ + -0.037979673594236374, + 0.15616117417812347, + 0.9870011210441589, + -0.03240004525236462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067444, + 0.015571298077702522, + 0.03744126856327057, + -0.035712169742454655 + ], + [ + -0.009332213550806046, + 0.9868494272232056, + -0.16137243807315826, + 0.017340057829151982 + ], + [ + -0.03946167230606079, + 0.16089029610157013, + 0.9861831068992615, + -0.032784304792142435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.015573395416140556, + 0.03915471211075783, + -0.03592559520924545 + ], + [ + -0.008849537000060081, + 0.9860241413116455, + -0.16636738181114197, + 0.015025206967054502 + ], + [ + -0.04119839891791344, + 0.16587311029434204, + 0.9852861762046814, + -0.03300466921342456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.01579897478222847, + 0.04070235416293144, + -0.035779560349233776 + ], + [ + -0.008583861403167248, + 0.9851139187812805, + -0.1716882288455963, + 0.01248418161564547 + ], + [ + -0.042808953672647476, + 0.17117512226104736, + 0.9843101501464844, + -0.032965466614974584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.016361400485038757, + 0.04317878186702728, + -0.03679660217755515 + ], + [ + -0.008463001810014248, + 0.9841516017913818, + -0.1771269291639328, + 0.009400355204453936 + ], + [ + -0.045392513275146484, + 0.17657257616519928, + 0.9832403659820557, + -0.03315438893016266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.016970030963420868, + 0.045455485582351685, + -0.03734805626065835 + ], + [ + -0.008352922275662422, + 0.982995331287384, + -0.18344049155712128, + 0.0075626149358551786 + ], + [ + -0.04779551923274994, + 0.18284474313259125, + 0.9819793105125427, + -0.032858016139463236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.01748301088809967, + 0.047148268669843674, + -0.03760019809048137 + ], + [ + -0.008270947262644768, + 0.981958270072937, + -0.1889168918132782, + 0.004801520235512568 + ], + [ + -0.049600470811128616, + 0.18828794360160828, + 0.9808605909347534, + -0.033181887889361904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865723, + 0.01858258619904518, + 0.049399469047784805, + -0.038730074189927265 + ], + [ + -0.008579387329518795, + 0.9806725978851318, + -0.1954677402973175, + 0.003694017348892015 + ], + [ + -0.052076999098062515, + 0.19477149844169617, + 0.9794651865959167, + -0.03328157797779726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.01906079612672329, + 0.05056662857532501, + -0.03833130180997693 + ], + [ + -0.008519092574715614, + 0.979552149772644, + -0.20101001858711243, + 0.0011420415633398556 + ], + [ + -0.05336406081914902, + 0.20028552412986755, + 0.978283166885376, + -0.03402918624165265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.020068388432264328, + 0.05223670229315758, + -0.03830630200631593 + ], + [ + -0.00883301068097353, + 0.9782982468605042, + -0.20701347291469574, + -0.0009610656972812558 + ], + [ + -0.05525750294327736, + 0.20622767508029938, + 0.9769425392150879, + -0.03405847971368095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.02098757028579712, + 0.05362417548894882, + -0.03773250181794814 + ], + [ + -0.009101630188524723, + 0.9770225882530212, + -0.21294136345386505, + -0.0028357176758025005 + ], + [ + -0.05686115473508835, + 0.21209995448589325, + 0.9755923748016357, + -0.034654482883279734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302429, + 0.0217584315687418, + 0.055909838527441025, + -0.03817225303500891 + ], + [ + -0.009053947404026985, + 0.9758765697479248, + -0.21813525259494781, + -0.006044686585664748 + ], + [ + -0.05930737778544426, + 0.21723611652851105, + 0.9743157029151917, + -0.03511163033545017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.02219223976135254, + 0.057744357734918594, + -0.038140296589826116 + ], + [ + -0.008665273897349834, + 0.9743892550468445, + -0.22470079362392426, + -0.007268738608969294 + ], + [ + -0.06125209853053093, + 0.22377006709575653, + 0.9727153778076172, + -0.035281064409924595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.02254362963140011, + 0.059229522943496704, + -0.03775993008976397 + ], + [ + -0.0082728061825037, + 0.9729372262954712, + -0.23092132806777954, + -0.008042420122934425 + ], + [ + -0.06283241510391235, + 0.2299671471118927, + 0.9711679816246033, + -0.035998486468325486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.021929867565631866, + 0.060454998165369034, + -0.03708116478367668 + ], + [ + -0.00716259004548192, + 0.9721141457557678, + -0.23439866304397583, + -0.012128047483122868 + ], + [ + -0.06390949338674545, + 0.23348045349121094, + 0.9702589511871338, + -0.03682682213737913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.022857923060655594, + 0.06275815516710281, + -0.03802140636936478 + ], + [ + -0.007085306569933891, + 0.9705377221107483, + -0.24084506928920746, + -0.010689365766618561 + ], + [ + -0.06641437858343124, + 0.2398626059293747, + 0.9685324430465698, + -0.03731622054525044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990967, + 0.022836510092020035, + 0.06369549036026001, + -0.037422421218260477 + ], + [ + -0.006593511439859867, + 0.9696597456932068, + -0.24436970055103302, + -0.01268828789015179 + ], + [ + -0.06734350323677063, + 0.24338965117931366, + 0.9675878882408142, + -0.03770192301953616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731384, + 0.022658245638012886, + 0.06370363384485245, + -0.03606358019068189 + ], + [ + -0.006218820810317993, + 0.968935489654541, + -0.24723535776138306, + -0.014851372429858083 + ], + [ + -0.0673266276717186, + 0.24627342820167542, + 0.9668591022491455, + -0.03861682726799146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430481, + 0.022214021533727646, + 0.06285545229911804, + -0.034226721006891 + ], + [ + -0.005891245789825916, + 0.9685425162315369, + -0.24877847731113434, + -0.019210900309617106 + ], + [ + -0.0664045512676239, + 0.24785475432872772, + 0.966518759727478, + -0.03980676371442234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.02297596074640751, + 0.06270275264978409, + -0.03403933030431685 + ], + [ + -0.006352042779326439, + 0.967345118522644, + -0.25338318943977356, + -0.019885056368682694 + ], + [ + -0.06647691875696182, + 0.25241926312446594, + 0.9653317332267761, + -0.040041164211604904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001587, + 0.024106651544570923, + 0.062348201870918274, + -0.03389234676471223 + ], + [ + -0.007149352692067623, + 0.9658434987068176, + -0.2590274214744568, + -0.01992858544639919 + ], + [ + -0.06646288931369781, + 0.25800228118896484, + 0.9638555645942688, + -0.04078544690071241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.025127019733190536, + 0.061808183789253235, + -0.03350232593391252 + ], + [ + -0.00790814682841301, + 0.964383065700531, + -0.26439133286476135, + -0.02032902525818866 + ], + [ + -0.06625013053417206, + 0.2633133828639984, + 0.962432861328125, + -0.04170398055373327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.026491761207580566, + 0.061391349881887436, + -0.03318174253217876 + ], + [ + -0.008958176709711552, + 0.9628472924232483, + -0.26989778876304626, + -0.02042751903443233 + ], + [ + -0.06626056134700775, + 0.2687438428401947, + 0.9609299302101135, + -0.043139648162152454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.997768759727478, + 0.027361121028661728, + 0.06090030074119568, + -0.03281745719520942 + ], + [ + -0.009600468911230564, + 0.9614867568016052, + -0.27468350529670715, + -0.020714649266522864 + ], + [ + -0.06607048213481903, + 0.27348592877388, + 0.9596041440963745, + -0.04481866365379614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.02765067294239998, + 0.06033976748585701, + -0.03248732845784853 + ], + [ + -0.00972452387213707, + 0.960184633731842, + -0.2791968286037445, + -0.020601334050297737 + ], + [ + -0.06565729528665543, + 0.2779943645000458, + 0.9583361744880676, + -0.04603439205042694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621277, + 0.02779082953929901, + 0.059224676340818405, + -0.031998553187788825 + ], + [ + -0.009968835860490799, + 0.9593074321746826, + -0.28218764066696167, + -0.02107869548642117 + ], + [ + -0.06465689837932587, + 0.2809927463531494, + 0.9575294256210327, + -0.04798043782053434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.02732110023498535, + 0.05665348842740059, + -0.029140557800217168 + ], + [ + -0.010183447040617466, + 0.9590361714363098, + -0.28310060501098633, + -0.0230355327544005 + ], + [ + -0.062067363411188126, + 0.28196316957473755, + 0.9574154615402222, + -0.05021436490604411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518921, + 0.02725362963974476, + 0.055557575076818466, + -0.028215573460835478 + ], + [ + -0.010300735011696815, + 0.9584397077560425, + -0.28510910272598267, + -0.02275644109948822 + ], + [ + -0.061018843203783035, + 0.28399038314819336, + 0.9568835496902466, + -0.05220557001378873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.026886502280831337, + 0.05255064740777016, + -0.023966182940437095 + ], + [ + -0.010742219164967537, + 0.9581257700920105, + -0.2861461639404297, + -0.023126658732476442 + ], + [ + -0.058043595403432846, + 0.28508269786834717, + 0.9567438364028931, + -0.05341747603986574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.02632264979183674, + 0.05048767477273941, + -0.02132485875778872 + ], + [ + -0.01075446791946888, + 0.9579384326934814, + -0.2867721617221832, + -0.023393611545148102 + ], + [ + -0.05591268837451935, + 0.2857639491558075, + 0.9566675424575806, + -0.0551606134875961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.025764308869838715, + 0.04729223623871803, + -0.017021738646713937 + ], + [ + -0.011069864965975285, + 0.957582414150238, + -0.28794682025909424, + -0.02237365731726522 + ], + [ + -0.05270496383309364, + 0.2870054244995117, + 0.95647794008255, + -0.056069057216138946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.024666791781783104, + 0.0440717376768589, + -0.012731056061127913 + ], + [ + -0.010880136862397194, + 0.9572102427482605, + -0.28918883204460144, + -0.021128243823414262 + ], + [ + -0.049319278448820114, + 0.2883402407169342, + 0.9562570452690125, + -0.05679890237465178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.02333184704184532, + 0.039388496428728104, + -0.006097549586759314 + ], + [ + -0.010894689708948135, + 0.9568221569061279, + -0.2904696464538574, + -0.020213069604790728 + ], + [ + -0.04446497932076454, + 0.28973597288131714, + 0.9560731649398804, + -0.0568828945280984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.999022901058197, + 0.021438565105199814, + 0.0386476069688797, + -0.005871621409997993 + ], + [ + -0.009327387437224388, + 0.9570468068122864, + -0.28978341817855835, + -0.02155431421554607 + ], + [ + -0.043200112879276276, + 0.2891398072242737, + 0.9563116431236267, + -0.05940668199074698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.02055411785840988, + 0.03429413214325905, + 0.00014039920642971992 + ], + [ + -0.009684556163847446, + 0.9566200971603394, + -0.29117727279663086, + -0.019922006875276566 + ], + [ + -0.03879134729504585, + 0.2906123399734497, + 0.9560542702674866, + -0.059752765781013295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.01957114413380623, + 0.033238962292671204, + 0.001201870596117299 + ], + [ + -0.009049003012478352, + 0.956614077091217, + -0.2912174165248871, + -0.02006922338319861 + ], + [ + -0.03749631345272064, + 0.29069992899894714, + 0.9560793042182922, + -0.06151516088993168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9991267323493958, + 0.018968984484672546, + 0.03722758963704109, + -0.005450288967593857 + ], + [ + -0.00731707364320755, + 0.9566694498062134, + -0.29108425974845886, + -0.020345049400044526 + ], + [ + -0.04113606736063957, + 0.2905576527118683, + 0.9559728503227234, + -0.06499229336319409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.01813526451587677, + 0.029316460713744164, + 0.005932153941577543 + ], + [ + -0.008797070011496544, + 0.9564486145973206, + -0.2917681038379669, + -0.020316762379978013 + ], + [ + -0.03333098068833351, + 0.2913368046283722, + 0.9560397267341614, + -0.06543748989782255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199951, + 0.01770026423037052, + 0.02899668738245964, + 0.006314289349171778 + ], + [ + -0.008438151329755783, + 0.9561333060264587, + -0.2928103804588318, + -0.020035084110239278 + ], + [ + -0.03290751948952675, + 0.2923966646194458, + 0.9557307362556458, + -0.06609119018134864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492126, + 0.01685449667274952, + 0.028420694172382355, + 0.006304194462364135 + ], + [ + -0.007757614832371473, + 0.9557737112045288, + -0.2940008342266083, + -0.019643333942993828 + ], + [ + -0.032118987292051315, + 0.293619841337204, + 0.9553825259208679, + -0.06841338413727024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.016039585694670677, + 0.027598802000284195, + 0.0069708285671051425 + ], + [ + -0.007185886148363352, + 0.9554562568664551, + -0.2950453460216522, + -0.01967043641792691 + ], + [ + -0.031101852655410767, + 0.2946966588497162, + 0.9550845623016357, + -0.07003761005952307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9995346069335938, + 0.015247568488121033, + 0.026421522721648216, + 0.008208514824914543 + ], + [ + -0.006741792429238558, + 0.9551193118095398, + -0.29614463448524475, + -0.019698627779017326 + ], + [ + -0.029751190915703773, + 0.2958286702632904, + 0.9547775983810425, + -0.07165733813915563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.015149546787142754, + 0.02469441294670105, + 0.010772060181783593 + ], + [ + -0.007122847717255354, + 0.9547296166419983, + -0.2973896563053131, + -0.019383001538074533 + ], + [ + -0.028081808239221573, + 0.29708895087242126, + 0.9544367790222168, + -0.07265422532901816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.01469515636563301, + 0.023525867611169815, + 0.012655357773537221 + ], + [ + -0.007002733647823334, + 0.9543582201004028, + -0.29858213663101196, + -0.019113141298294067 + ], + [ + -0.026839815080165863, + 0.2983025312423706, + 0.9540939331054688, + -0.07428275372671045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.014255501329898834, + 0.022258255630731583, + 0.014585547624965724 + ], + [ + -0.006950950715690851, + 0.9542365074157715, + -0.29897212982177734, + -0.019416608078324273 + ], + [ + -0.025501638650894165, + 0.29871296882629395, + 0.9540022015571594, + -0.07599861527104741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.999679446220398, + 0.013773739337921143, + 0.021242758259177208, + 0.016344002494588495 + ], + [ + -0.006781786680221558, + 0.9540805220603943, + -0.29947352409362793, + -0.019019658572000008 + ], + [ + -0.02439217083156109, + 0.29923349618911743, + 0.9538680911064148, + -0.07719776964867892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.013498718850314617, + 0.020003944635391235, + 0.01841509444234164 + ], + [ + -0.006886289454996586, + 0.9540290236473083, + -0.2996351718902588, + -0.018972772683786308 + ], + [ + -0.023129034787416458, + 0.2994101643562317, + 0.9538441300392151, + -0.07855083515624638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.013105448335409164, + 0.019050858914852142, + 0.019820904828931975 + ], + [ + -0.006793595850467682, + 0.9539903402328491, + -0.2997603416442871, + -0.019073594620694283 + ], + [ + -0.022102829068899155, + 0.29955077171325684, + 0.9538242816925049, + -0.0796857273934976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.012848930433392525, + 0.017874201759696007, + 0.020798903352418997 + ], + [ + -0.006899069529026747, + 0.9539555907249451, + -0.2998685836791992, + -0.019360979290112205 + ], + [ + -0.020904185250401497, + 0.29967260360717773, + 0.9538130760192871, + -0.08059385324139957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012085, + 0.01229442935436964, + 0.016187604516744614, + 0.022246689353462145 + ], + [ + -0.006877788342535496, + 0.9539898633956909, + -0.2997598946094513, + -0.020040184907291245 + ], + [ + -0.019128188490867615, + 0.29958662390708923, + 0.953877329826355, + -0.08166757517534755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.011615701019763947, + 0.014489619061350822, + 0.023545006487478058 + ], + [ + -0.006735567003488541, + 0.9539309144020081, + -0.29995065927505493, + -0.02065704675472301 + ], + [ + -0.017306232824921608, + 0.2998013496398926, + 0.9538446664810181, + -0.08252271578201781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.01100757997483015, + 0.012793038040399551, + 0.02466871139957853 + ], + [ + -0.006657890044152737, + 0.9538103938102722, + -0.30033543705940247, + -0.02138892383031223 + ], + [ + -0.015508098527789116, + 0.3002074658870697, + 0.9537478685379028, + -0.08325854897013177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.010259771719574928, + 0.011384222656488419, + 0.025347988977623373 + ], + [ + -0.006358100101351738, + 0.9536084532737732, + -0.3009825050830841, + -0.022066465522284095 + ], + [ + -0.013944102451205254, + 0.300874799489975, + 0.9535617232322693, + -0.08357915992484144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634399, + 0.009562669321894646, + 0.009711958467960358, + 0.026468349304860053 + ], + [ + -0.006183892488479614, + 0.9532966613769531, + -0.30197229981422424, + -0.02207673768634381 + ], + [ + -0.012146038934588432, + 0.3018842041492462, + 0.9532672166824341, + -0.08383083278718204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.009050115942955017, + 0.007406006567180157, + 0.028819964285028855 + ], + [ + -0.006386688444763422, + 0.9531480669975281, + -0.3024367690086365, + -0.022301942272030792 + ], + [ + -0.00979610811918974, + 0.30236876010894775, + 0.9531406760215759, + -0.08403490354185518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.008848156780004501, + 0.005254167132079601, + 0.03120671843138078 + ], + [ + -0.006839944049715996, + 0.9529503583908081, + -0.30304932594299316, + -0.02173899198355882 + ], + [ + -0.007688388228416443, + 0.302997350692749, + 0.9529603719711304, + -0.08426820242210575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.008388788439333439, + 0.0042376890778541565, + 0.032072932576841635 + ], + [ + -0.006710602901875973, + 0.9529709815979004, + -0.3029872477054596, + -0.02170561796621136 + ], + [ + -0.0065800901502370834, + 0.30294540524482727, + 0.9529851675033569, + -0.08454361634086008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.007891487330198288, + 0.0028796824626624584, + 0.033529104047920553 + ], + [ + -0.006649356335401535, + 0.9530461430549622, + -0.30275216698646545, + -0.02140693664550781 + ], + [ + -0.005133634898811579, + 0.30272236466407776, + 0.9530649781227112, + -0.08437342438846827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.007440454326570034, + 0.0017033653566613793, + 0.03470253282708733 + ], + [ + -0.006577573716640472, + 0.953201174736023, + -0.3022651970386505, + -0.021212781528415884 + ], + [ + -0.0038726404309272766, + 0.302245169878006, + 0.9532223343849182, + -0.08401102533806926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.007206707261502743, + 0.00023568153847008944, + 0.03626398495322539 + ], + [ + -0.006799705326557159, + 0.9533676505088806, + -0.3017348051071167, + -0.020797932601493336 + ], + [ + -0.002399205695837736, + 0.3017253875732422, + 0.9533918499946594, + -0.08378865905915914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.007215050049126148, + -0.0013026536908000708, + 0.037714060435815634 + ], + [ + -0.007272626273334026, + 0.9536243677139282, + -0.3009113669395447, + -0.020486344299886536 + ], + [ + -0.0009288478759117424, + 0.3009127378463745, + 0.9536512494087219, + -0.08363315764328708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.007200681138783693, + -0.0029490399174392223, + 0.03914103636001844 + ], + [ + -0.007753776852041483, + 0.9538871645927429, + -0.3000653386116028, + -0.02006245430396951 + ], + [ + 0.0006523765623569489, + 0.3000791072845459, + 0.9539141058921814, + -0.08372967138724483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.0073445760644972324, + -0.004333018325269222, + 0.03995849146031896 + ], + [ + -0.008303535170853138, + 0.9543184041976929, + -0.29867619276046753, + -0.020212543723375897 + ], + [ + 0.0019414287526160479, + 0.29870128631591797, + 0.9543446898460388, + -0.08386141461846622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.00758214620873332, + -0.005407380871474743, + 0.04050041442817968 + ], + [ + -0.008846807293593884, + 0.9547628164291382, + -0.29723671078681946, + -0.02025623431672221 + ], + [ + 0.0029090745374560356, + 0.29727163910865784, + 0.9547885060310364, + -0.08379706273098354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.999944269657135, + 0.007875194773077965, + -0.007030118256807327, + 0.041960922201447516 + ], + [ + -0.00960238091647625, + 0.9552057981491089, + -0.2957865297794342, + -0.020172886307472767 + ], + [ + 0.004385833628475666, + 0.29583755135536194, + 0.9552282094955444, + -0.08399683018417463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.008488552644848824, + -0.008215175941586494, + 0.04280930518010712 + ], + [ + -0.010531414300203323, + 0.9556097388267517, + -0.2944472134113312, + -0.020010684106660927 + ], + [ + 0.005351071245968342, + 0.29451319575309753, + 0.9556324481964111, + -0.08373684337281663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301025, + 0.009077849797904491, + -0.009421899914741516, + 0.04392719957977533 + ], + [ + -0.011442153714597225, + 0.9559639096260071, + -0.29326117038726807, + -0.019937999643709344 + ], + [ + 0.006344815716147423, + 0.2933439016342163, + 0.9559859037399292, + -0.08355525527554362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.009452003985643387, + -0.010222547687590122, + 0.04432518640330628 + ], + [ + -0.012028098106384277, + 0.9562346339225769, + -0.29235365986824036, + -0.019696783468775125 + ], + [ + 0.007011826150119305, + 0.2924482524394989, + 0.9562556147575378, + -0.08356385938418301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.009715363383293152, + -0.010953372344374657, + 0.04444167477827843 + ], + [ + -0.012486658990383148, + 0.9564980268478394, + -0.2914715111255646, + -0.019668778663744096 + ], + [ + 0.007645128294825554, + 0.291577011346817, + 0.9565168023109436, + -0.08381175860438658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.009856334887444973, + -0.011652341112494469, + 0.04439930979202947 + ], + [ + -0.01281923707574606, + 0.9567082524299622, + -0.29076623916625977, + -0.019630424030449078 + ], + [ + 0.008282002061605453, + 0.2908817529678345, + 0.956723153591156, + -0.08391891247795329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.009932444430887699, + -0.01313873939216137, + 0.04543320500271638 + ], + [ + -0.013320253230631351, + 0.9568285942077637, + -0.29034748673439026, + -0.01931643510318321 + ], + [ + 0.00968766026198864, + 0.2904830873012543, + 0.9568310976028442, + -0.08412953488852666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.010340643115341663, + -0.013315418735146523, + 0.044758449421952604 + ], + [ + -0.013758896850049496, + 0.9569211006164551, + -0.2900218367576599, + -0.01875566292716109 + ], + [ + 0.009742794558405876, + 0.2901638150215149, + 0.9569274187088013, + -0.08439403107470793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.010536699555814266, + -0.014125842601060867, + 0.044934845774475 + ], + [ + -0.01417627651244402, + 0.957065999507904, + -0.289523184299469, + -0.01828464642167091 + ], + [ + 0.010468745604157448, + 0.2896784543991089, + 0.9570667743682861, + -0.08490531164342943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9998363256454468, + 0.010891634970903397, + -0.01444687508046627, + 0.044638589832364864 + ], + [ + -0.01459907554090023, + 0.9573293328285217, + -0.2886301577091217, + -0.018328915244859197 + ], + [ + 0.010686762630939484, + 0.2887938320636749, + 0.957331657409668, + -0.0849829032085836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.011450154706835747, + -0.014529063366353512, + 0.044132695940788835 + ], + [ + -0.015150830149650574, + 0.9575045108795166, + -0.28802019357681274, + -0.017991288686576096 + ], + [ + 0.010613768361508846, + 0.288191020488739, + 0.9575141072273254, + -0.08533107422535186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.011858062818646431, + -0.014580335468053818, + 0.043607711314183215 + ], + [ + -0.015548942610621452, + 0.957697331905365, + -0.2873569428920746, + -0.018023939981408738 + ], + [ + 0.010556051507592201, + 0.28753289580345154, + 0.9577125906944275, + -0.08556664606718266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.012128437869250774, + -0.01464923843741417, + 0.043082729619725244 + ], + [ + -0.015820525586605072, + 0.9578892588615417, + -0.28670182824134827, + -0.01805023283738157 + ], + [ + 0.010555103421211243, + 0.2868817150592804, + 0.9579078555107117, + -0.08589508591786675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.012183948419988155, + -0.015137601643800735, + 0.042930667535604344 + ], + [ + -0.016006914898753166, + 0.9580661058425903, + -0.28609979152679443, + -0.017770938931599905 + ], + [ + 0.011016998440027237, + 0.2862880825996399, + 0.9580802321434021, + -0.0862230075482765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.012012994848191738, + -0.015673071146011353, + 0.04274551066691461 + ], + [ + -0.015984533354640007, + 0.9583596587181091, + -0.2851162254810333, + -0.018003994404621745 + ], + [ + 0.011595341376960278, + 0.28531113266944885, + 0.9583648443222046, + -0.08651291491139843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.012110580690205097, + -0.01639024168252945, + 0.04169590220503185 + ], + [ + -0.016277389600872993, + 0.9584789872169495, + -0.2846982777118683, + -0.01772736757993698 + ], + [ + 0.012261840514838696, + 0.28490594029426575, + 0.9584770798683167, + -0.08652322369870608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.012454718351364136, + -0.01676257885992527, + 0.04144632134120911 + ], + [ + -0.016713786870241165, + 0.9584629535675049, + -0.2847267985343933, + -0.016692671179771423 + ], + [ + 0.012520119547843933, + 0.28494489192962646, + 0.958462119102478, + -0.08739859177730978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.011867624707520008, + -0.016696546226739883, + 0.04135260368575869 + ], + [ + -0.016128212213516235, + 0.9585614800453186, + -0.2844289243221283, + -0.016456869600907614 + ], + [ + 0.012629170902073383, + 0.28463855385780334, + 0.9585517048835754, + -0.08754329137990009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.011898798868060112, + -0.016527118161320686, + 0.04085762384448848 + ], + [ + -0.016109328716993332, + 0.9585740566253662, + -0.28438764810562134, + -0.01651488928043324 + ], + [ + 0.012458594515919685, + 0.28459489345550537, + 0.9585669040679932, + -0.08807864628691713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.999800980091095, + 0.01179526373744011, + -0.016088683158159256, + 0.04005836365825456 + ], + [ + -0.015881424769759178, + 0.9586682319641113, + -0.2840828597545624, + -0.017180488064237262 + ], + [ + 0.012072877027094364, + 0.28428182005882263, + 0.9586647748947144, + -0.08880246658202098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692444, + 0.01237634476274252, + -0.016462460160255432, + 0.039954832593060055 + ], + [ + -0.016553102061152458, + 0.9584661722183228, + -0.284725546836853, + -0.016598318096088322 + ], + [ + 0.012254849076271057, + 0.28493767976760864, + 0.9584677219390869, + -0.08904662712112718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348206, + 0.012780892662703991, + -0.01641402579843998, + 0.03931185764908467 + ], + [ + -0.01693068817257881, + 0.9583755731582642, + -0.28500810265541077, + -0.01624840125441551 + ], + [ + 0.012088143266737461, + 0.2852243483066559, + 0.9583845734596252, + -0.08945607712856778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.013170582242310047, + -0.01641548052430153, + 0.03871290944314197 + ], + [ + -0.017300555482506752, + 0.9584664106369019, + -0.2846803069114685, + -0.016229580083618994 + ], + [ + 0.011984280310571194, + 0.2849012613296509, + 0.9584819674491882, + -0.08992809501233633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.013317734003067017, + -0.015992529690265656, + 0.037560310571090036 + ], + [ + -0.017315302044153214, + 0.9586091041564941, + -0.28419846296310425, + -0.015977661020081975 + ], + [ + 0.011545705609023571, + 0.28441381454467773, + 0.9586321115493774, + -0.09056014032912967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.01368729118257761, + -0.015205700881779194, + 0.03586771262900742 + ], + [ + -0.01744253747165203, + 0.9586939811706543, + -0.2839042842388153, + -0.015429989912587663 + ], + [ + 0.010691733099520206, + 0.28411009907722473, + 0.9587320685386658, + -0.09115523098886985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421875, + 0.013676067814230919, + -0.014477606862783432, + 0.03457012997292306 + ], + [ + -0.01721770130097866, + 0.9589017629623413, + -0.2832152843475342, + -0.015626068672408226 + ], + [ + 0.01000933162868023, + 0.28340840339660645, + 0.9589470624923706, + -0.09172011777232199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.013848480768501759, + -0.01349636260420084, + 0.032651836548061315 + ], + [ + -0.017103176563978195, + 0.9589590430259705, + -0.283028244972229, + -0.015182521161825759 + ], + [ + 0.009022948332130909, + 0.28320616483688354, + 0.9590166211128235, + -0.09252537376773746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.999824583530426, + 0.013728667981922626, + -0.012739814817905426, + 0.03105175546977831 + ], + [ + -0.01677251234650612, + 0.9590147137641907, + -0.2828594148159027, + -0.014773334433203156 + ], + [ + 0.008334387093782425, + 0.28302350640296936, + 0.9590767621994019, + -0.09322459676060016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.013748432509601116, + -0.012272721156477928, + 0.030292182665763667 + ], + [ + -0.016660628840327263, + 0.9589675068855286, + -0.2830260992050171, + -0.01432191888275354 + ], + [ + 0.007877975702285767, + 0.2831825017929077, + 0.9590336680412292, + -0.09351199107123134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.013619882985949516, + -0.011728364042937756, + 0.02945545875042191 + ], + [ + -0.016384350135922432, + 0.9589269757270813, + -0.2831794321537018, + -0.014247846506212067 + ], + [ + 0.007389775477349758, + 0.28332582116127014, + 0.9589952230453491, + -0.09404552651002356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.013129913248121738, + -0.010828699916601181, + 0.02798392482952255 + ], + [ + -0.0156614538282156, + 0.9588568210601807, + -0.28345778584480286, + -0.014019641782278599 + ], + [ + 0.006661396473646164, + 0.2835863530635834, + 0.9589235782623291, + -0.09480919962262978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.012918918393552303, + -0.008521311916410923, + 0.024145368154606092 + ], + [ + -0.01480634231120348, + 0.9587716460227966, + -0.28379157185554504, + -0.013076116047475647 + ], + [ + 0.004503712058067322, + 0.2838837802410126, + 0.9588481187820435, + -0.09553427718296323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.012471792288124561, + -0.00764962425455451, + 0.022559585325855194 + ], + [ + -0.014129041694104671, + 0.9588639736175537, + -0.2835140824317932, + -0.012833794854257417 + ], + [ + 0.003799020778387785, + 0.2835918068885803, + 0.9589375853538513, + -0.09613586744779477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.012243223376572132, + -0.007329609245061874, + 0.021870729890044616 + ], + [ + -0.013818559236824512, + 0.9589112401008606, + -0.28336960077285767, + -0.012676522006159246 + ], + [ + 0.0035590874031186104, + 0.28344202041625977, + 0.9589827656745911, + -0.09661104140965186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.012170713394880295, + -0.007128079421818256, + 0.021449693996439 + ], + [ + -0.013692483305931091, + 0.9588640332221985, + -0.2835354208946228, + -0.012510423589011894 + ], + [ + 0.0033840304240584373, + 0.28360480070114136, + 0.9589352607727051, + -0.09699448793519128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.012092404067516327, + -0.00668905908241868, + 0.020648062699879316 + ], + [ + -0.013493748381733894, + 0.9587841629981995, + -0.28381478786468506, + -0.012307250629300655 + ], + [ + 0.002981360536068678, + 0.283877968788147, + 0.9588558077812195, + -0.09738666279767842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.012219628319144249, + -0.006055587437003851, + 0.019562969392965264 + ], + [ + -0.013437382876873016, + 0.9586056470870972, + -0.28441986441612244, + -0.011903846442051554 + ], + [ + 0.0023294161073863506, + 0.28447476029396057, + 0.9586806893348694, + -0.09787215431747229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355713, + 0.012324619106948376, + -0.0058808960020542145, + 0.01906190509300517 + ], + [ + -0.0134885897859931, + 0.9585719108581543, + -0.28453120589256287, + -0.01228192617063937 + ], + [ + 0.0021305226255208254, + 0.28458401560783386, + 0.9586487412452698, + -0.09858480386193032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.012797458097338676, + -0.005433768033981323, + 0.018281286112640214 + ], + [ + -0.013815557584166527, + 0.9583991169929504, + -0.28509700298309326, + -0.012056444099415902 + ], + [ + 0.0015592018608003855, + 0.28514450788497925, + 0.9584832787513733, + -0.09899674902224671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.013290473259985447, + -0.005007470026612282, + 0.01757510844618082 + ], + [ + -0.01416697632521391, + 0.9582738876342773, + -0.2855004370212555, + -0.011667739599943161 + ], + [ + 0.0010040916968137026, + 0.2855425775051117, + 0.9583654999732971, + -0.09981884667649865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/push_in/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2cdf79b33fb9622d28a408395fb9cd7874317397 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/push_in/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.29400126147084e-05, + 0.00024093473621178418, + -0.00024362687952658314 + ], + [ + 7.308429485419765e-05, + 0.9999998211860657, + -0.0005989032797515392, + 0.000701351796084529 + ], + [ + -0.00024089102225843817, + 0.0005989208584651351, + 0.9999998211860657, + 0.0003176973117819137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 7.64142896514386e-06, + 0.00039224125794135034, + -0.000442213400769422 + ], + [ + -7.184681635408197e-06, + 0.9999993443489075, + -0.0011644421610981226, + 0.0013849304217096094 + ], + [ + -0.00039224987267516553, + 0.0011644393671303988, + 0.9999992251396179, + 0.0007286732948040995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.649810140719637e-05, + 0.0007247389294207096, + -0.0008904246838621633 + ], + [ + -7.541389641119167e-05, + 0.9999988675117493, + -0.0014958935789763927, + 0.0017920148698106894 + ], + [ + -0.0007248525507748127, + 0.0014958386309444904, + 0.9999986290931702, + 0.0011475087887526532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + 1.2577570487337653e-05, + 0.0007771732634864748, + -0.00122851171118268 + ], + [ + -1.0976172234222759e-05, + 0.9999978542327881, + -0.002060511615127325, + 0.002092839507183627 + ], + [ + -0.0007771974778734148, + 0.002060502301901579, + 0.9999975562095642, + 0.0015522532301711972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860657, + 0.00019054125004913658, + 0.0005764178349636495, + -0.0013125981357639514 + ], + [ + -0.00018902587180491537, + 0.999996542930603, + -0.0026278733275830746, + 0.0021941491425462555 + ], + [ + -0.0005769165582023561, + 0.0026277638971805573, + 0.9999963641166687, + 0.0020943093341370313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.0004889839328825474, + 0.0005974089144729078, + -0.0015522376848663122 + ], + [ + -0.000487010576762259, + 0.9999944567680359, + -0.0032989170867949724, + 0.002273205337975093 + ], + [ + -0.0005990187055431306, + 0.0032986251171678305, + 0.9999943971633911, + 0.002549367996297129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007110527949407697, + 0.0004320366424508393, + -0.001774633120721378 + ], + [ + -0.00070937629789114, + 0.9999922513961792, + -0.003868312109261751, + 0.002337851450505221 + ], + [ + -0.0004347838694229722, + 0.0038680043071508408, + 0.9999924302101135, + 0.0030069956692624035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007128954166546464, + 0.0004006489471066743, + -0.002532710873840741 + ], + [ + -0.0007112507009878755, + 0.9999913573265076, + -0.004090489353984594, + 0.0021749793410139238 + ], + [ + -0.0004035616002511233, + 0.004090203437954187, + 0.9999915361404419, + 0.0030920069664716722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.0007943193195387721, + 0.00035233303788118064, + -0.0031726744934649502 + ], + [ + -0.0007925998652353883, + 0.9999879002571106, + -0.004853838123381138, + 0.002941029986022445 + ], + [ + -0.0003561842895578593, + 0.004853556863963604, + 0.9999881386756897, + 0.003499783232362698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006670414004474878, + 0.00016822533507365733, + -0.0035981489923553613 + ], + [ + -0.000666158040985465, + 0.9999862909317017, + -0.005197789985686541, + 0.003479787166250627 + ], + [ + -0.00017169017519336194, + 0.0051976763643324375, + 0.999986469745636, + 0.003803406548483864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0005030512111261487, + -0.0004504503740463406, + -0.0034452220331213142 + ], + [ + -0.00050563202239573, + 0.9999833703041077, + -0.005747856106609106, + 0.004263840044555052 + ], + [ + 0.00044755139970220625, + 0.005748082417994738, + 0.9999833703041077, + 0.004145647033684603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.0005004483973607421, + -0.0012349014868959785, + -0.0029970396778283073 + ], + [ + -0.0005081002600491047, + 0.999980628490448, + -0.006203807424753904, + 0.004856329709898842 + ], + [ + 0.0012317729415372014, + 0.0062044295482337475, + 0.9999799728393555, + 0.004697333975776059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.000537351006641984, + -0.0012318185763433576, + -0.0032684461641980782 + ], + [ + -0.0005456472281366587, + 0.9999771118164062, + -0.006744516082108021, + 0.005189038460325126 + ], + [ + 0.0012281661620363593, + 0.006745181977748871, + 0.9999765157699585, + 0.00500687957012459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009534736745990813, + -0.0011021787067875266, + -0.0034863825903891626 + ], + [ + -0.000961759767960757, + 0.9999710917472839, + -0.0075419871136546135, + 0.00531249555212486 + ], + [ + 0.0010949558345600963, + 0.007543039508163929, + 0.9999709725379944, + 0.0055626058951020255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.0011162854498252273, + -0.0011227973736822605, + -0.0034616749883001753 + ], + [ + -0.001126102521084249, + 0.9999608397483826, + -0.008781137876212597, + 0.0055777028218195164 + ], + [ + 0.001112951198592782, + 0.00878239143639803, + 0.9999608397483826, + 0.006122684156846093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.0010198316304013133, + -0.0009416394750587642, + -0.003575196470964052 + ], + [ + -0.001029227045364678, + 0.9999491572380066, + -0.010031781159341335, + 0.0057325711554807165 + ], + [ + 0.0009313608170486987, + 0.01003274042159319, + 0.9999492168426514, + 0.006531089096856506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007766605704091489, + -0.0005797529593110085, + -0.003753881114433803 + ], + [ + -0.0007832953124307096, + 0.9999331831932068, + -0.011532947421073914, + 0.005844822226335173 + ], + [ + 0.0005707570817321539, + 0.011533396318554878, + 0.9999333024024963, + 0.006877090172518207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008707321248948574, + -0.0002847291762009263, + -0.0038221991100885057 + ], + [ + -0.0008743436774238944, + 0.9999158978462219, + -0.012939990498125553, + 0.00600638276917617 + ], + [ + 0.00027343793772161007, + 0.012940234504640102, + 0.9999162554740906, + 0.006961070887906396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999995231628418, + 0.0009543554042465985, + 0.0003136252926196903, + -0.004049028887817732 + ], + [ + -0.0009497980936430395, + 0.999898374080658, + -0.014223447069525719, + 0.0064658194770226655 + ], + [ + -0.00032716765417717397, + 0.014223141595721245, + 0.9998987913131714, + 0.007000268238556127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0009250862058252096, + 0.0011267464142292738, + -0.004219332358131752 + ], + [ + -0.0009077693102881312, + 0.9998829364776611, + -0.015273701399564743, + 0.007178769912570715 + ], + [ + -0.0011407439596951008, + 0.015272662043571472, + 0.999882698059082, + 0.007397519647265257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816956, + 0.0009937994182109833, + 0.002146285492926836, + -0.004714147650140702 + ], + [ + -0.0009599670302122831, + 0.9998762011528015, + -0.01570713147521019, + 0.007530309176882324 + ], + [ + -0.0021616294980049133, + 0.01570502668619156, + 0.9998743534088135, + 0.007411861666680678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819702, + 0.0008153708768077195, + 0.003173352684825659, + -0.0051260844880269595 + ], + [ + -0.0007638561655767262, + 0.9998684525489807, + -0.016201015561819077, + 0.007802086732471767 + ], + [ + -0.003186145331710577, + 0.016198504716157913, + 0.9998637437820435, + 0.007531987199478823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0009345848229713738, + 0.003337858011946082, + -0.004051916327443905 + ], + [ + -0.0008764644735492766, + 0.9998487234115601, + -0.017371680587530136, + 0.008738248841837049 + ], + [ + -0.003353588515892625, + 0.017368651926517487, + 0.9998435378074646, + 0.00838584015145898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.0008287678356282413, + 0.0045023406855762005, + -0.004285372087084081 + ], + [ + -0.000745337747503072, + 0.999828577041626, + -0.01850055903196335, + 0.009234316274523735 + ], + [ + -0.0045169019140303135, + 0.018497008830308914, + 0.999818742275238, + 0.00879574060925971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112122, + 0.0006885568145662546, + 0.005930440034717321, + -0.004606069998218394 + ], + [ + -0.0005718327593058348, + 0.9998065233230591, + -0.01966145448386669, + 0.009775144356788824 + ], + [ + -0.005942830350250006, + 0.019657714292407036, + 0.9997891187667847, + 0.009085953195133934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 0.00027616453007794917, + 0.007445462979376316, + -0.004684763186125328 + ], + [ + -0.00012348577729426324, + 0.9997898936271667, + -0.02049895189702511, + 0.010276635090375076 + ], + [ + -0.0074495598673820496, + 0.020497461780905724, + 0.9997621774673462, + 0.009253255528924257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412781, + -0.00036024575820192695, + 0.00870597269386053, + -0.004593367450971804 + ], + [ + 0.0005401443922892213, + 0.9997861981391907, + -0.02067030780017376, + 0.010719913757487159 + ], + [ + -0.008696665056049824, + 0.02067422680556774, + 0.9997484683990479, + 0.0095440247339075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.000709950749296695, + 0.009997879154980183, + -0.004783455430246566 + ], + [ + 0.000913787807803601, + 0.9997915029525757, + -0.020398246124386787, + 0.011292464889424002 + ], + [ + -0.009981312789022923, + 0.02040635608136654, + 0.9997419714927673, + 0.009596104664809032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0013528461568057537, + 0.011150604113936424, + -0.005113095191874258 + ], + [ + 0.0015737633220851421, + 0.9998021721839905, + -0.019827229902148247, + 0.01156681935282667 + ], + [ + -0.01112157478928566, + 0.019843528047204018, + 0.99974125623703, + 0.009874053380411606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.0016329752979800105, + 0.012118174694478512, + -0.00541750456550685 + ], + [ + 0.0018681212095543742, + 0.9998096823692322, + -0.019418517127633095, + 0.01187574269209543 + ], + [ + -0.012084159068763256, + 0.019439702853560448, + 0.9997379779815674, + 0.010492598678430786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0021301365923136473, + 0.01295301504433155, + -0.005946766274333324 + ], + [ + 0.0023827843833714724, + 0.9998065829277039, + -0.019520897418260574, + 0.012316900080717777 + ], + [ + -0.012908928096294403, + 0.019550081342458725, + 0.9997255206108093, + 0.010967118778954382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.002467246726155281, + 0.013769915327429771, + -0.006492621504256259 + ], + [ + 0.002741764299571514, + 0.9997971653938293, + -0.01995289884507656, + 0.013082126285070958 + ], + [ + -0.0137178935110569, + 0.01998869888484478, + 0.9997060894966125, + 0.011386112714915173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353088, + -0.002840029774233699, + 0.014727404341101646, + -0.007038389398392452 + ], + [ + 0.0031446802895516157, + 0.9997807145118713, + -0.020704224705696106, + 0.014221531330891277 + ], + [ + -0.014665374532341957, + 0.020748209208250046, + 0.9996771812438965, + 0.011992293005080326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999869704246521, + -0.0029583810828626156, + 0.01586814410984516, + -0.007597176388472966 + ], + [ + 0.0032985173165798187, + 0.9997644424438477, + -0.021452007815241814, + 0.01532814768547921 + ], + [ + -0.015800943598151207, + 0.021501554176211357, + 0.9996439218521118, + 0.012388033444142861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0031880491878837347, + 0.01670588180422783, + -0.007743187967444892 + ], + [ + 0.0035494978073984385, + 0.9997592568397522, + -0.021651223301887512, + 0.015800477896371613 + ], + [ + -0.016632836312055588, + 0.021707389503717422, + 0.9996259808540344, + 0.01290418183350045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358826, + -0.0034013534896075726, + 0.017632387578487396, + -0.008032131883437219 + ], + [ + 0.0037892842665314674, + 0.9997504949569702, + -0.02201450802385807, + 0.01638345363266442 + ], + [ + -0.017553109675645828, + 0.02207777090370655, + 0.9996021389961243, + 0.013494682915346775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703186, + -0.0038147722370922565, + 0.018518278375267982, + -0.008673669502098599 + ], + [ + 0.004231736529618502, + 0.9997372031211853, + -0.022529657930135727, + 0.01707195660058895 + ], + [ + -0.018427466973662376, + 0.022603996098041534, + 0.9995746612548828, + 0.013716517319983763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.004257365129888058, + 0.019327698275446892, + -0.00945006059685155 + ], + [ + 0.004697722382843494, + 0.9997290968894958, + -0.022795794531702995, + 0.017299328847666797 + ], + [ + -0.019225412979722023, + 0.02288212440907955, + 0.9995533227920532, + 0.01465590137421437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.004344628192484379, + 0.019853176549077034, + -0.010028837565535112 + ], + [ + 0.004809228703379631, + 0.9997142553329468, + -0.02341434173285961, + 0.017881534061313646 + ], + [ + -0.019745776429772377, + 0.023504985496401787, + 0.999528706073761, + 0.015565959465406513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872742, + -0.004273205995559692, + 0.019879784435033798, + -0.010218375200486702 + ], + [ + 0.004749181680381298, + 0.9997016787528992, + -0.023957451805472374, + 0.018412424291929474 + ], + [ + -0.019771479070186615, + 0.02404691092669964, + 0.9995152950286865, + 0.016314608490337494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.004034793470054865, + 0.019967637956142426, + -0.010424302805862998 + ], + [ + 0.00453932723030448, + 0.9996699094772339, + -0.025287102907896042, + 0.019820340554756316 + ], + [ + -0.01985901966691017, + 0.025372494012117386, + 0.9994807839393616, + 0.01731041237792891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.003648292040452361, + 0.020054861903190613, + -0.010659932053607444 + ], + [ + 0.004184782970696688, + 0.999632716178894, + -0.026774615049362183, + 0.021450400611628655 + ], + [ + -0.019949816167354584, + 0.02685297653079033, + 0.9994403123855591, + 0.018242115320880777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.00383543292991817, + 0.020006857812404633, + -0.010852997494942469 + ], + [ + 0.00437692366540432, + 0.9996233582496643, + -0.02709207870066166, + 0.02175991584688587 + ], + [ + -0.019895412027835846, + 0.027174023911356926, + 0.9994326829910278, + 0.019023199067653523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.004099968355149031, + 0.02002454176545143, + -0.011086904589572679 + ], + [ + 0.004638054873794317, + 0.999627411365509, + -0.026899252086877823, + 0.02147539062830417 + ], + [ + -0.019906792789697647, + 0.026986505836248398, + 0.9994375705718994, + 0.01978552549996454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943787, + -0.004152627661824226, + 0.01996457204222679, + -0.011273982499361686 + ], + [ + 0.004697425290942192, + 0.9996157288551331, + -0.02731921523809433, + 0.021859379181557375 + ], + [ + -0.019843455404043198, + 0.027407318353652954, + 0.9994273781776428, + 0.020489524786724993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.003944906406104565, + 0.02015707828104496, + -0.011876193387433887 + ], + [ + 0.0045133475214242935, + 0.9995911717414856, + -0.02823333442211151, + 0.02242327220737934 + ], + [ + -0.020037459209561348, + 0.02831835299730301, + 0.9993981122970581, + 0.021583979530259968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107727, + -0.0032675720285624266, + 0.020181545987725258, + -0.012328124326734764 + ], + [ + 0.0038687323685735464, + 0.9995477795600891, + -0.02982078120112419, + 0.023528578154661733 + ], + [ + -0.020074976608157158, + 0.029892627149820328, + 0.9993515014648438, + 0.022811799081366345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.002861427143216133, + 0.021231308579444885, + -0.01411243631787922 + ], + [ + 0.003516518510878086, + 0.9995168447494507, + -0.03088207170367241, + 0.023991293184783147 + ], + [ + -0.021132685244083405, + 0.03094964474439621, + 0.9992974996566772, + 0.023542325974077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862, + -0.002301783300936222, + 0.021792083978652954, + -0.014946688468689504 + ], + [ + 0.003009514417499304, + 0.9994671940803528, + -0.032499637454748154, + 0.02501437486068386 + ], + [ + -0.021705664694309235, + 0.0325574167072773, + 0.999234139919281, + 0.02453301307016417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.0019446497317403555, + 0.021882113069295883, + -0.015151963387008595 + ], + [ + 0.002689081011340022, + 0.9994167685508728, + -0.03404226154088974, + 0.026031856263137382 + ], + [ + -0.021803151816129684, + 0.03409288823604584, + 0.999180793762207, + 0.025674112697901284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -0.001641829265281558, + 0.021979989483952522, + -0.015362982124940533 + ], + [ + 0.002427538624033332, + 0.9993571639060974, + -0.03576776385307312, + 0.027247291106892668 + ], + [ + -0.021907133981585503, + 0.03581243008375168, + 0.9991183876991272, + 0.026633259349340657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + -0.0011024021077901125, + 0.022024111822247505, + -0.015264642445127602 + ], + [ + 0.001948375254869461, + 0.9992595314979553, + -0.03842678666114807, + 0.029338985551958498 + ], + [ + -0.02196544222533703, + 0.03846035152673721, + 0.999018669128418, + 0.02785229347140083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + -0.0002417459909338504, + 0.021403763443231583, + -0.014215320476290325 + ], + [ + 0.0011531555792316794, + 0.9990924000740051, + -0.04257965460419655, + 0.032853694638723265 + ], + [ + -0.021374043077230453, + 0.04259457811713219, + 0.9988637566566467, + 0.029367125009024598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + 0.0002510111080482602, + 0.021014317870140076, + -0.013486964684789595 + ], + [ + 0.0007272117072716355, + 0.9989166259765625, + -0.04652971401810646, + 0.035716004851881575 + ], + [ + -0.021003231406211853, + 0.04653472080826759, + 0.9986958503723145, + 0.03068042706252764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + 0.001443485263735056, + 0.020757440477609634, + -0.012788041180971524 + ], + [ + -0.0003878616844303906, + 0.9987103343009949, + -0.05076955258846283, + 0.038577485465161175 + ], + [ + -0.02080395445227623, + 0.05075050890445709, + 0.9984946846961975, + 0.03248544548557181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.0023793992586433887, + 0.02051977999508381, + -0.012176241798569326 + ], + [ + -0.0012360119726508856, + 0.9984548687934875, + -0.055554915219545364, + 0.04203420451477818 + ], + [ + -0.020620262250304222, + 0.05551769956946373, + 0.9982447624206543, + 0.033927228216729735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.004298734944313765, + 0.020192652940750122, + -0.011083569159002408 + ], + [ + -0.003020811825990677, + 0.9980155229568481, + -0.06289596855640411, + 0.04860323401087004 + ], + [ + -0.020422954112291336, + 0.06282156705856323, + 0.9978157877922058, + 0.036519044670073886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.005073931999504566, + 0.018658915534615517, + -0.00868251494374936 + ], + [ + -0.0037986915558576584, + 0.9976946711540222, + -0.06775601953268051, + 0.05260211188022209 + ], + [ + -0.018959691748023033, + 0.06767246872186661, + 0.9975274205207825, + 0.03801706407786064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.004383104387670755, + 0.021516947075724602, + -0.012841223337201644 + ], + [ + -0.002972166985273361, + 0.9978695511817932, + -0.06517262756824493, + 0.048349326241599475 + ], + [ + -0.021756766363978386, + 0.06509296596050262, + 0.9976419806480408, + 0.03738947022382332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.006276203319430351, + 0.0191669762134552, + -0.009623011128733988 + ], + [ + -0.00483538955450058, + 0.9972231984138489, + -0.07431375235319138, + 0.05750626771022444 + ], + [ + -0.019580163061618805, + 0.07420595735311508, + 0.9970507025718689, + 0.04110426330210074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.013463468290865421, + 0.01185617595911026, + 9.738069771708023e-05 + ], + [ + -0.012277067638933659, + 0.995400607585907, + -0.09500975161790848, + 0.07830453448240524 + ], + [ + -0.013080805540084839, + 0.09484890848398209, + 0.9954057335853577, + 0.050912436243632564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605164, + 0.007106535602360964, + 0.02068468928337097, + -0.012041698234236758 + ], + [ + -0.0055058724246919155, + 0.997059166431427, + -0.07643726468086243, + 0.05711362028251524 + ], + [ + -0.02116706222295761, + 0.076305091381073, + 0.9968597888946533, + 0.042042054082064524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.00595441646873951, + 0.022774621844291687, + -0.015086002753156682 + ], + [ + -0.004311687313020229, + 0.9974305033683777, + -0.07151050120592117, + 0.04867249811878023 + ], + [ + -0.023141905665397644, + 0.0713924840092659, + 0.9971798062324524, + 0.041227476019412276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.005955101922154427, + 0.02482219971716404, + -0.018312552814250406 + ], + [ + -0.004120660945773125, + 0.9973006844520569, + -0.07330973446369171, + 0.04813781905433406 + ], + [ + -0.025191763415932655, + 0.0731835663318634, + 0.9970002770423889, + 0.04128814621464066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.006376426201313734, + 0.02538127824664116, + -0.01982842411076569 + ], + [ + -0.0044679357670247555, + 0.9972071647644043, + -0.07455149292945862, + 0.0465624892031369 + ], + [ + -0.025785762816667557, + 0.07441255450248718, + 0.996894121170044, + 0.04211560371534332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515503, + 0.006418973207473755, + 0.02483879216015339, + -0.019988457257252023 + ], + [ + -0.004500090144574642, + 0.9970554113388062, + -0.07655216753482819, + 0.045377362406124236 + ], + [ + -0.025257037952542305, + 0.07641519606113434, + 0.9967561364173889, + 0.043029622737642215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469055, + 0.006868094205856323, + 0.024720177054405212, + -0.020432676544979864 + ], + [ + -0.004879595711827278, + 0.9968133568763733, + -0.07961994409561157, + 0.04439233139805172 + ], + [ + -0.02518824115395546, + 0.0794731080532074, + 0.9965187311172485, + 0.044113866377459926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.0070471568033099174, + 0.025016335770487785, + -0.02134714246849003 + ], + [ + -0.00497843511402607, + 0.9966351389884949, + -0.08181419223546982, + 0.0415978847152513 + ], + [ + -0.025508718565106392, + 0.08166200667619705, + 0.9963335990905762, + 0.04430530761247096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.007975968532264233, + 0.025857478380203247, + -0.022771481797099112 + ], + [ + -0.005721102003008127, + 0.9962671995162964, + -0.08613325655460358, + 0.040207733400166035 + ], + [ + -0.026447951793670654, + 0.08595378696918488, + 0.9959480166435242, + 0.04487098660320044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.008404552936553955, + 0.025899531319737434, + -0.022999697658435805 + ], + [ + -0.006032766308635473, + 0.9958935976028442, + -0.09033027291297913, + 0.03763828248433445 + ], + [ + -0.026552362367510796, + 0.09014053642749786, + 0.9955750107765198, + 0.046303152957040336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.009213109500706196, + 0.026887476444244385, + -0.02452854117297608 + ], + [ + -0.006625215522944927, + 0.9954745173454285, + -0.09479790925979614, + 0.03456508773176566 + ], + [ + -0.027639180421829224, + 0.0945814698934555, + 0.9951333403587341, + 0.046476952310489573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.009413432329893112, + 0.02715360000729561, + -0.024998784777910812 + ], + [ + -0.006644922774285078, + 0.9949347972869873, + -0.10030249506235123, + 0.03186450519639513 + ], + [ + -0.02796025201678276, + 0.10008063167333603, + 0.9945864081382751, + 0.047365593748248135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278503, + 0.010448411107063293, + 0.028303269296884537, + -0.026617431784372616 + ], + [ + -0.007394106592983007, + 0.9943445324897766, + -0.1059446632862091, + 0.028743313722636388 + ], + [ + -0.02925015613436699, + 0.10568715631961823, + 0.9939691424369812, + 0.047954754903912544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999527096748352, + 0.010755124501883984, + 0.028808332979679108, + -0.027574754336281964 + ], + [ + -0.007457084022462368, + 0.9936536550521851, + -0.11223530024290085, + 0.02607324007574631 + ], + [ + -0.029832608997821808, + 0.11196739226579666, + 0.9932639598846436, + 0.04837760332485904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.01173768937587738, + 0.02939232997596264, + -0.027921844430713227 + ], + [ + -0.00817660242319107, + 0.9929239153862, + -0.11847055703401566, + 0.02298129959355878 + ], + [ + -0.030574915930628777, + 0.11817087978124619, + 0.9925224781036377, + 0.049670159209357655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.01284224446862936, + 0.030594753101468086, + -0.029194677625175403 + ], + [ + -0.008924922905862331, + 0.9921296834945679, + -0.12489606440067291, + 0.019563680368921033 + ], + [ + -0.03195790946483612, + 0.12455423176288605, + 0.9916980266571045, + 0.050402999434458175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.013437540270388126, + 0.03142225742340088, + -0.0299518516206223 + ], + [ + -0.009216981939971447, + 0.9913663864135742, + -0.13079671561717987, + 0.01549060235366873 + ], + [ + -0.03290855139493942, + 0.1304306834936142, + 0.9909111261367798, + 0.05113068020538144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394226, + 0.014365378767251968, + 0.032401151955127716, + -0.030758148537057897 + ], + [ + -0.009735409170389175, + 0.9902763962745667, + -0.13877291977405548, + 0.013862139634464098 + ], + [ + -0.034079618752002716, + 0.13837029039859772, + 0.9897940158843994, + 0.05224919546719479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.014735107310116291, + 0.03306347131729126, + -0.03107177945582763 + ], + [ + -0.009789164178073406, + 0.9893760681152344, + -0.14504872262477875, + 0.01063717662802209 + ], + [ + -0.03484951704740524, + 0.14462999999523163, + 0.9888719320297241, + 0.053258423839250335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.015337885357439518, + 0.03431614488363266, + -0.03165970224401225 + ], + [ + -0.009993080981075764, + 0.9885103702545166, + -0.15082229673862457, + 0.007852172924448616 + ], + [ + -0.03623516112565994, + 0.15037278831005096, + 0.9879651069641113, + 0.053714664693435894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.015444952994585037, + 0.03600665554404259, + -0.032370077480521536 + ], + [ + -0.00962134450674057, + 0.9876108169555664, + -0.15662787854671478, + 0.005788147619561008 + ], + [ + -0.037979673594236374, + 0.15616117417812347, + 0.9870011210441589, + 0.054498966491740686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067444, + 0.015571298077702522, + 0.03744126856327057, + -0.03237501319659793 + ], + [ + -0.009332213550806046, + 0.9868494272232056, + -0.16137243807315826, + 0.0029568622617617895 + ], + [ + -0.03946167230606079, + 0.16089029610157013, + 0.9861831068992615, + 0.055114624301052614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.015573395416140556, + 0.03915471211075783, + -0.03239315922534012 + ], + [ + -0.008849537000060081, + 0.9860241413116455, + -0.16636738181114197, + 1.5975781918866998e-05 + ], + [ + -0.04119839891791344, + 0.16587311029434204, + 0.9852861762046814, + 0.05588527929199779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.01579897478222847, + 0.04070235416293144, + -0.0320632584474009 + ], + [ + -0.008583861403167248, + 0.9851139187812805, + -0.1716882288455963, + -0.003191700148517671 + ], + [ + -0.042808953672647476, + 0.17117512226104736, + 0.9843101501464844, + 0.05690632970274791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.016361400485038757, + 0.04317878186702728, + -0.03280725820071023 + ], + [ + -0.008463001810014248, + 0.9841516017913818, + -0.1771269291639328, + -0.006964632816126814 + ], + [ + -0.045392513275146484, + 0.17657257616519928, + 0.9832403659820557, + 0.05768847097035336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.016970030963420868, + 0.045455485582351685, + -0.033098956521438516 + ], + [ + -0.008352922275662422, + 0.982995331287384, + -0.18344049155712128, + -0.00958508318796268 + ], + [ + -0.04779551923274994, + 0.18284474313259125, + 0.9819793105125427, + 0.058935702017144015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.01748301088809967, + 0.047148268669843674, + -0.03314161181409398 + ], + [ + -0.008270947262644768, + 0.981958270072937, + -0.1889168918132782, + -0.01306344670769961 + ], + [ + -0.049600470811128616, + 0.18828794360160828, + 0.9808605909347534, + 0.05957340712294631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865723, + 0.01858258619904518, + 0.049399469047784805, + -0.03400490758535655 + ], + [ + -0.008579387329518795, + 0.9806725978851318, + -0.1954677402973175, + -0.015002896940416616 + ], + [ + -0.052076999098062515, + 0.19477149844169617, + 0.9794651865959167, + 0.06040639639224695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.01906079612672329, + 0.05056662857532501, + -0.03343953013258136 + ], + [ + -0.008519092574715614, + 0.979552149772644, + -0.20101001858711243, + -0.018303492843456892 + ], + [ + -0.05336406081914902, + 0.20028552412986755, + 0.978283166885376, + 0.06060907664182393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.020068388432264328, + 0.05223670229315758, + -0.03319618982546355 + ], + [ + -0.00883301068097353, + 0.9782982468605042, + -0.20701347291469574, + -0.02121238369980584 + ], + [ + -0.05525750294327736, + 0.20622767508029938, + 0.9769425392150879, + 0.061511986079099384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.02098757028579712, + 0.05362417548894882, + -0.03242837141632386 + ], + [ + -0.009101630188524723, + 0.9770225882530212, + -0.21294136345386505, + -0.023898396017434806 + ], + [ + -0.05686115473508835, + 0.21209995448589325, + 0.9755923748016357, + 0.06184432810253423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302429, + 0.0217584315687418, + 0.055909838527441025, + -0.0325812691822648 + ], + [ + -0.009053947404026985, + 0.9758765697479248, + -0.21813525259494781, + -0.027858211845159533 + ], + [ + -0.05930737778544426, + 0.21723611652851105, + 0.9743157029151917, + 0.06231993995606899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.02219223976135254, + 0.057744357734918594, + -0.03230309521010064 + ], + [ + -0.008665273897349834, + 0.9743892550468445, + -0.22470079362392426, + -0.029983057964431202 + ], + [ + -0.06125209853053093, + 0.22377006709575653, + 0.9727153778076172, + 0.06304777269454107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.02254362963140011, + 0.059229522943496704, + -0.03170821796292844 + ], + [ + -0.0082728061825037, + 0.9729372262954712, + -0.23092132806777954, + -0.03163655581681625 + ], + [ + -0.06283241510391235, + 0.2299671471118927, + 0.9711679816246033, + 0.06322954643679701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.021929867565631866, + 0.060454998165369034, + -0.030838529103557052 + ], + [ + -0.00716259004548192, + 0.9721141457557678, + -0.23439866304397583, + -0.0363322572539682 + ], + [ + -0.06390949338674545, + 0.23348045349121094, + 0.9702589511871338, + 0.06336296086564012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.022857923060655594, + 0.06275815516710281, + -0.0314727293084497 + ], + [ + -0.007085306569933891, + 0.9705377221107483, + -0.24084506928920746, + -0.03582102517070978 + ], + [ + -0.06641437858343124, + 0.2398626059293747, + 0.9685324430465698, + 0.06374803438134816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990967, + 0.022836510092020035, + 0.06369549036026001, + -0.03070670103897219 + ], + [ + -0.006593511439859867, + 0.9696597456932068, + -0.24436970055103302, + -0.03845335414390201 + ], + [ + -0.06734350323677063, + 0.24338965117931366, + 0.9675878882408142, + 0.06431549563194099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731384, + 0.022658245638012886, + 0.06370363384485245, + -0.029277758324599785 + ], + [ + -0.006218820810317993, + 0.968935489654541, + -0.24723535776138306, + -0.041187312713135846 + ], + [ + -0.0673266276717186, + 0.24627342820167542, + 0.9668591022491455, + 0.06437468579767838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430481, + 0.022214021533727646, + 0.06285545229911804, + -0.027462927770355472 + ], + [ + -0.005891245789825916, + 0.9685425162315369, + -0.24877847731113434, + -0.04598162775940221 + ], + [ + -0.0664045512676239, + 0.24785475432872772, + 0.966518759727478, + 0.06419905934320844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.02297596074640751, + 0.06270275264978409, + -0.027223813711949017 + ], + [ + -0.006352042779326439, + 0.967345118522644, + -0.25338318943977356, + -0.04742670739474504 + ], + [ + -0.06647691875696182, + 0.25241926312446594, + 0.9653317332267761, + 0.06488619809565337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001587, + 0.024106651544570923, + 0.062348201870918274, + -0.02704759851583968 + ], + [ + -0.007149352692067623, + 0.9658434987068176, + -0.2590274214744568, + -0.04836529149957325 + ], + [ + -0.06646288931369781, + 0.25800228118896484, + 0.9638555645942688, + 0.0650291313862671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.025127019733190536, + 0.061808183789253235, + -0.026649679470321406 + ], + [ + -0.00790814682841301, + 0.964383065700531, + -0.26439133286476135, + -0.04964197738015134 + ], + [ + -0.06625013053417206, + 0.2633133828639984, + 0.962432861328125, + 0.06500053233264581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.026491761207580566, + 0.061391349881887436, + -0.026308580534532666 + ], + [ + -0.008958176709711552, + 0.9628472924232483, + -0.26989778876304626, + -0.05064433668942555 + ], + [ + -0.06626056134700775, + 0.2687438428401947, + 0.9609299302101135, + 0.06444272445919721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.997768759727478, + 0.027361121028661728, + 0.06090030074119568, + -0.02593307537229165 + ], + [ + -0.009600468911230564, + 0.9614867568016052, + -0.27468350529670715, + -0.05176582812615063 + ], + [ + -0.06607048213481903, + 0.27348592877388, + 0.9596041440963745, + 0.06365832654840273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.02765067294239998, + 0.06033976748585701, + -0.025600724560006158 + ], + [ + -0.00972452387213707, + 0.960184633731842, + -0.2791968286037445, + -0.05246618948876858 + ], + [ + -0.06565729528665543, + 0.2779943645000458, + 0.9583361744880676, + 0.06334093221179818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621277, + 0.02779082953929901, + 0.059224676340818405, + -0.025174840478955404 + ], + [ + -0.009968835860490799, + 0.9593074321746826, + -0.28218764066696167, + -0.05359161930239719 + ], + [ + -0.06465689837932587, + 0.2809927463531494, + 0.9575294256210327, + 0.0623436046966716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.02732110023498535, + 0.05665348842740059, + -0.022551510776595576 + ], + [ + -0.010183447040617466, + 0.9590361714363098, + -0.28310060501098633, + -0.055961363989373916 + ], + [ + -0.062067363411188126, + 0.28196316957473755, + 0.9574154615402222, + 0.06113721594700347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518921, + 0.02725362963974476, + 0.055557575076818466, + -0.021693597256165483 + ], + [ + -0.010300735011696815, + 0.9584397077560425, + -0.28510910272598267, + -0.05622577054992966 + ], + [ + -0.061018843203783035, + 0.28399038314819336, + 0.9568835496902466, + 0.06012423799332717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.026886502280831337, + 0.05255064740777016, + -0.01774007362799476 + ], + [ + -0.010742219164967537, + 0.9581257700920105, + -0.2861461639404297, + -0.057028758590636046 + ], + [ + -0.058043595403432846, + 0.28508269786834717, + 0.9567438364028931, + 0.05993586979482485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.02632264979183674, + 0.05048767477273941, + -0.01528828894800466 + ], + [ + -0.01075446791946888, + 0.9579384326934814, + -0.2867721617221832, + -0.05768158740323523 + ], + [ + -0.05591268837451935, + 0.2857639491558075, + 0.9566675424575806, + 0.05922354919754941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.025764308869838715, + 0.04729223623871803, + -0.01131582753530339 + ], + [ + -0.011069864965975285, + 0.957582414150238, + -0.28794682025909424, + -0.05711506715287333 + ], + [ + -0.05270496383309364, + 0.2870054244995117, + 0.95647794008255, + 0.05933208555469047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.024666791781783104, + 0.0440717376768589, + -0.007365801039597262 + ], + [ + -0.010880136862397194, + 0.9572102427482605, + -0.28918883204460144, + -0.056333840767974444 + ], + [ + -0.049319278448820114, + 0.2883402407169342, + 0.9562570452690125, + 0.05961499878853237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.02333184704184532, + 0.039388496428728104, + -0.0012596146993177093 + ], + [ + -0.010894689708948135, + 0.9568221569061279, + -0.2904696464538574, + -0.055890319658362345 + ], + [ + -0.04446497932076454, + 0.28973597288131714, + 0.9560731649398804, + 0.06054783116560429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.999022901058197, + 0.021438565105199814, + 0.0386476069688797, + -0.0010826788073324636 + ], + [ + -0.009327387437224388, + 0.9570468068122864, + -0.28978341817855835, + -0.05746225951158482 + ], + [ + -0.043200112879276276, + 0.2891398072242737, + 0.9563116431236267, + 0.05909280422239808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.02055411785840988, + 0.03429413214325905, + 0.004427165724337101 + ], + [ + -0.009684556163847446, + 0.9566200971603394, + -0.29117727279663086, + -0.05631916597485542 + ], + [ + -0.03879134729504585, + 0.2906123399734497, + 0.9560542702674866, + 0.059754018002422526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.01957114413380623, + 0.033238962292671204, + 0.005392870189541061 + ], + [ + -0.009049003012478352, + 0.956614077091217, + -0.2912174165248871, + -0.05678794111894525 + ], + [ + -0.03749631345272064, + 0.29069992899894714, + 0.9560793042182922, + 0.059033968772374754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9991267323493958, + 0.018968984484672546, + 0.03722758963704109, + -0.0007159107202745004 + ], + [ + -0.00731707364320755, + 0.9566694498062134, + -0.29108425974845886, + -0.057363373737620266 + ], + [ + -0.04113606736063957, + 0.2905576527118683, + 0.9559728503227234, + 0.05658251477567398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.01813526451587677, + 0.029316460713744164, + 0.009692308685296903 + ], + [ + -0.008797070011496544, + 0.9564486145973206, + -0.2917681038379669, + -0.0577391930896303 + ], + [ + -0.03333098068833351, + 0.2913368046283722, + 0.9560397267341614, + 0.0571849967919938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199951, + 0.01770026423037052, + 0.02899668738245964, + 0.010064947825816014 + ], + [ + -0.008438151329755783, + 0.9561333060264587, + -0.2928103804588318, + -0.057909470278283824 + ], + [ + -0.03290751948952675, + 0.2923966646194458, + 0.9557307362556458, + 0.05753050287780555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492126, + 0.01685449667274952, + 0.028420694172382355, + 0.010011241528327051 + ], + [ + -0.007757614832371473, + 0.9557737112045288, + -0.2940008342266083, + -0.057991268842116646 + ], + [ + -0.032118987292051315, + 0.293619841337204, + 0.9553825259208679, + 0.056201727939364704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.016039585694670677, + 0.027598802000284195, + 0.010600671004099043 + ], + [ + -0.007185886148363352, + 0.9554562568664551, + -0.2950453460216522, + -0.05847531344903552 + ], + [ + -0.031101852655410767, + 0.2946966588497162, + 0.9550845623016357, + 0.05557677259101816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9995346069335938, + 0.015247568488121033, + 0.026421522721648216, + 0.01171223849017659 + ], + [ + -0.006741792429238558, + 0.9551193118095398, + -0.29614463448524475, + -0.05896998148249543 + ], + [ + -0.029751190915703773, + 0.2958286702632904, + 0.9547775983810425, + 0.05495447382006956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.015149546787142754, + 0.02469441294670105, + 0.014073595825744712 + ], + [ + -0.007122847717255354, + 0.9547296166419983, + -0.2973896563053131, + -0.059142705587589224 + ], + [ + -0.028081808239221573, + 0.29708895087242126, + 0.9544367790222168, + 0.05494982230112605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.01469515636563301, + 0.023525867611169815, + 0.01582623558199924 + ], + [ + -0.007002733647823334, + 0.9543582201004028, + -0.29858213663101196, + -0.0593568205833435 + ], + [ + -0.026839815080165863, + 0.2983025312423706, + 0.9540939331054688, + 0.0543125155179397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.014255501329898834, + 0.022258255630731583, + 0.017609767140010776 + ], + [ + -0.006950950715690851, + 0.9542365074157715, + -0.29897212982177734, + -0.06003782136932664 + ], + [ + -0.025501638650894165, + 0.29871296882629395, + 0.9540022015571594, + 0.05362124907095796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.999679446220398, + 0.013773739337921143, + 0.021242758259177208, + 0.01925333677791059 + ], + [ + -0.006781786680221558, + 0.9540805220603943, + -0.29947352409362793, + -0.060034510784822956 + ], + [ + -0.02439217083156109, + 0.29923349618911743, + 0.9538680911064148, + 0.053440686307199614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.013498718850314617, + 0.020003944635391235, + 0.021176508538748907 + ], + [ + -0.006886289454996586, + 0.9540290236473083, + -0.2996351718902588, + -0.06033545402081117 + ], + [ + -0.023129034787416458, + 0.2994101643562317, + 0.9538441300392151, + 0.05312112627308006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.013105448335409164, + 0.019050858914852142, + 0.02247145911273749 + ], + [ + -0.006793595850467682, + 0.9539903402328491, + -0.2997603416442871, + -0.06077938128424727 + ], + [ + -0.022102829068899155, + 0.29955077171325684, + 0.9538242816925049, + 0.053020259624590046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.012848930433392525, + 0.017874201759696007, + 0.02330517729481115 + ], + [ + -0.006899069529026747, + 0.9539555907249451, + -0.2998685836791992, + -0.06140776982773905 + ], + [ + -0.020904185250401497, + 0.29967260360717773, + 0.9538130760192871, + 0.05314732807000046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012085, + 0.01229442935436964, + 0.016187604516744614, + 0.024534068252567365 + ], + [ + -0.006877788342535496, + 0.9539898633956909, + -0.2997598946094513, + -0.06239756131949632 + ], + [ + -0.019128188490867615, + 0.29958662390708923, + 0.953877329826355, + 0.05311943882185481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.011615701019763947, + 0.014489619061350822, + 0.025608202245126922 + ], + [ + -0.006735567003488541, + 0.9539309144020081, + -0.29995065927505493, + -0.06336741236888843 + ], + [ + -0.017306232824921608, + 0.2998013496398926, + 0.9538446664810181, + 0.0532964704234315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.01100757997483015, + 0.012793038040399551, + 0.02650423424885325 + ], + [ + -0.006657890044152737, + 0.9538103938102722, + -0.30033543705940247, + -0.06448053001709607 + ], + [ + -0.015508098527789116, + 0.3002074658870697, + 0.9537478685379028, + 0.05358353651574124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.010259771719574928, + 0.011384222656488419, + 0.026993751600789637 + ], + [ + -0.006358100101351738, + 0.9536084532737732, + -0.3009825050830841, + -0.06557806680059951 + ], + [ + -0.013944102451205254, + 0.300874799489975, + 0.9535617232322693, + 0.05427269789025835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634399, + 0.009562669321894646, + 0.009711958467960358, + 0.02788291716867167 + ], + [ + -0.006183892488479614, + 0.9532966613769531, + -0.30197229981422424, + -0.06605965961580691 + ], + [ + -0.012146038934588432, + 0.3018842041492462, + 0.9532672166824341, + 0.055014609642650786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.009050115942955017, + 0.007406006567180157, + 0.029906715248691162 + ], + [ + -0.006386688444763422, + 0.9531480669975281, + -0.3024367690086365, + -0.06668125076786331 + ], + [ + -0.00979610811918974, + 0.30236876010894775, + 0.9531406760215759, + 0.0558281304395717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.008848156780004501, + 0.005254167132079601, + 0.03198342139873168 + ], + [ + -0.006839944049715996, + 0.9529503583908081, + -0.30304932594299316, + -0.06653758799252303 + ], + [ + -0.007688388228416443, + 0.302997350692749, + 0.9529603719711304, + 0.05660420039101788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.008388788439333439, + 0.0042376890778541565, + 0.03270397975473948 + ], + [ + -0.006710602901875973, + 0.9529709815979004, + -0.3029872477054596, + -0.06682437115713306 + ], + [ + -0.0065800901502370834, + 0.30294540524482727, + 0.9529851675033569, + 0.057368305341705034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.007891487330198288, + 0.0028796824626624584, + 0.033961056417319925 + ], + [ + -0.006649356335401535, + 0.9530461430549622, + -0.30275216698646545, + -0.06681976169347764 + ], + [ + -0.005133634898811579, + 0.30272236466407776, + 0.9530649781227112, + 0.05858632232993842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.007440454326570034, + 0.0017033653566613793, + 0.03495988911466987 + ], + [ + -0.006577573716640472, + 0.953201174736023, + -0.3022651970386505, + -0.0668811102114294 + ], + [ + -0.0038726404309272766, + 0.302245169878006, + 0.9532223343849182, + 0.06000843605269557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.007206707261502743, + 0.00023568153847008944, + 0.03629984953516649 + ], + [ + -0.006799705326557159, + 0.9533676505088806, + -0.3017348051071167, + -0.06671409859605458 + ], + [ + -0.002399205695837736, + 0.3017253875732422, + 0.9533918499946594, + 0.06129270941828904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.007215050049126148, + -0.0013026536908000708, + 0.037514414598421274 + ], + [ + -0.007272626273334026, + 0.9536243677139282, + -0.3009113669395447, + -0.06660428205909937 + ], + [ + -0.0009288478759117424, + 0.3009127378463745, + 0.9536512494087219, + 0.06252426210304965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.007200681138783693, + -0.0029490399174392223, + 0.03868585845971804 + ], + [ + -0.007753776852041483, + 0.9538871645927429, + -0.3000653386116028, + -0.06637688700271689 + ], + [ + 0.0006523765623569489, + 0.3000791072845459, + 0.9539141058921814, + 0.06350489713089622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.0073445760644972324, + -0.004333018325269222, + 0.03928498969889124 + ], + [ + -0.008303535170853138, + 0.9543184041976929, + -0.29867619276046753, + -0.06663721281549205 + ], + [ + 0.0019414287526160479, + 0.29870128631591797, + 0.9543446898460388, + 0.06447694478151592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.00758214620873332, + -0.005407380871474743, + 0.03965404177003581 + ], + [ + -0.008846807293593884, + 0.9547628164291382, + -0.29723671078681946, + -0.06678024122248524 + ], + [ + 0.0029090745374560356, + 0.29727163910865784, + 0.9547885060310364, + 0.06564809473474388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.999944269657135, + 0.007875194773077965, + -0.007030118256807327, + 0.04085291443271157 + ], + [ + -0.00960238091647625, + 0.9552057981491089, + -0.2957865297794342, + -0.06679141545749229 + ], + [ + 0.004385833628475666, + 0.29583755135536194, + 0.9552282094955444, + 0.06655544196457967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.008488552644848824, + -0.008215175941586494, + 0.04150559247633361 + ], + [ + -0.010531414300203323, + 0.9556097388267517, + -0.2944472134113312, + -0.06673817666976348 + ], + [ + 0.005351071245968342, + 0.29451319575309753, + 0.9556324481964111, + 0.06791787123226602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301025, + 0.009077849797904491, + -0.009421899914741516, + 0.04242174383252859 + ], + [ + -0.011442153714597225, + 0.9559639096260071, + -0.29326117038726807, + -0.06679603447732718 + ], + [ + 0.006344815716147423, + 0.2933439016342163, + 0.9559859037399292, + 0.0691946663002929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.009452003985643387, + -0.010222547687590122, + 0.04268068960138961 + ], + [ + -0.012028098106384277, + 0.9562346339225769, + -0.29235365986824036, + -0.06672758962149206 + ], + [ + 0.007011826150119305, + 0.2924482524394989, + 0.9562556147575378, + 0.07026856559855135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.009715363383293152, + -0.010953372344374657, + 0.04266770469206993 + ], + [ + -0.012486658990383148, + 0.9564980268478394, + -0.2914715111255646, + -0.06687449079168879 + ], + [ + 0.007645128294825554, + 0.291577011346817, + 0.9565168023109436, + 0.07110237568292929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.009856334887444973, + -0.011652341112494469, + 0.04249947156716624 + ], + [ + -0.01281923707574606, + 0.9567082524299622, + -0.29076623916625977, + -0.06703796302494795 + ], + [ + 0.008282002061605453, + 0.2908817529678345, + 0.956723153591156, + 0.07206855821625695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.009932444430887699, + -0.01313873939216137, + 0.04327673799378554 + ], + [ + -0.013320253230631351, + 0.9568285942077637, + -0.29034748673439026, + -0.0669712943389364 + ], + [ + 0.00968766026198864, + 0.2904830873012543, + 0.9568310976028442, + 0.07291556917454885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.010340643115341663, + -0.013315418735146523, + 0.04255851067440665 + ], + [ + -0.013758896850049496, + 0.9569211006164551, + -0.2900218367576599, + -0.06667231421755708 + ], + [ + 0.009742794558405876, + 0.2901638150215149, + 0.9569274187088013, + 0.0737070207119636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.010536699555814266, + -0.014125842601060867, + 0.042585656733211616 + ], + [ + -0.01417627651244402, + 0.957065999507904, + -0.289523184299469, + -0.06643361076712609 + ], + [ + 0.010468745604157448, + 0.2896784543991089, + 0.9570667743682861, + 0.07425905409390512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9998363256454468, + 0.010891634970903397, + -0.01444687508046627, + 0.04222030856889551 + ], + [ + -0.01459907554090023, + 0.9573293328285217, + -0.2886301577091217, + -0.06664309381790784 + ], + [ + 0.010686762630939484, + 0.2887938320636749, + 0.957331657409668, + 0.07526609161868691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.011450154706835747, + -0.014529063366353512, + 0.041684864612761885 + ], + [ + -0.015150830149650574, + 0.9575045108795166, + -0.28802019357681274, + -0.06651642999571303 + ], + [ + 0.010613768361508846, + 0.288191020488739, + 0.9575141072273254, + 0.07598923731838231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.011858062818646431, + -0.014580335468053818, + 0.041135393560904523 + ], + [ + -0.015548942610621452, + 0.957697331905365, + -0.2873569428920746, + -0.066749682471804 + ], + [ + 0.010556051507592201, + 0.28753289580345154, + 0.9577125906944275, + 0.07682809757230723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.012128437869250774, + -0.01464923843741417, + 0.04058280523421 + ], + [ + -0.015820525586605072, + 0.9578892588615417, + -0.28670182824134827, + -0.06697652309161166 + ], + [ + 0.010555103421211243, + 0.2868817150592804, + 0.9579078555107117, + 0.07757397203341775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.012183948419988155, + -0.015137601643800735, + 0.040330948992429866 + ], + [ + -0.016006914898753166, + 0.9580661058425903, + -0.28609979152679443, + -0.06690546834598417 + ], + [ + 0.011016998440027237, + 0.2862880825996399, + 0.9580802321434021, + 0.07831685840678604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.012012994848191738, + -0.015673071146011353, + 0.0400367951101583 + ], + [ + -0.015984533354640007, + 0.9583596587181091, + -0.2851162254810333, + -0.06727951598232207 + ], + [ + 0.011595341376960278, + 0.28531113266944885, + 0.9583648443222046, + 0.07911753100950433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.012110580690205097, + -0.01639024168252945, + 0.0388454253906789 + ], + [ + -0.016277389600872993, + 0.9584789872169495, + -0.2846982777118683, + -0.06724011152982712 + ], + [ + 0.012261840514838696, + 0.28490594029426575, + 0.9584770798683167, + 0.08016844236534898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.012454718351364136, + -0.01676257885992527, + 0.038512870040722194 + ], + [ + -0.016713786870241165, + 0.9584629535675049, + -0.2847267985343933, + -0.06651986092329025 + ], + [ + 0.012520119547843933, + 0.28494489192962646, + 0.958462119102478, + 0.08033227906562389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.011867624707520008, + -0.016696546226739883, + 0.03841255967626753 + ], + [ + -0.016128212213516235, + 0.9585614800453186, + -0.2844289243221283, + -0.06654109323154325 + ], + [ + 0.012629170902073383, + 0.28463855385780334, + 0.9585517048835754, + 0.081245161001773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.011898798868060112, + -0.016527118161320686, + 0.03792944964851536 + ], + [ + -0.016109328716993332, + 0.9585740566253662, + -0.28438764810562134, + -0.0669009617165379 + ], + [ + 0.012458594515919685, + 0.28459489345550537, + 0.9585669040679932, + 0.08175440302078167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.999800980091095, + 0.01179526373744011, + -0.016088683158159256, + 0.037190381008321824 + ], + [ + -0.015881424769759178, + 0.9586682319641113, + -0.2840828597545624, + -0.06782134567265925 + ], + [ + 0.012072877027094364, + 0.28428182005882263, + 0.9586647748947144, + 0.08208994981225418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692444, + 0.01237634476274252, + -0.016462460160255432, + 0.03700232615127512 + ], + [ + -0.016553102061152458, + 0.9584661722183228, + -0.284725546836853, + -0.06766322595269784 + ], + [ + 0.012254849076271057, + 0.28493767976760864, + 0.9584677219390869, + 0.0828524751831656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348206, + 0.012780892662703991, + -0.01641402579843998, + 0.03635019647240963 + ], + [ + -0.01693068817257881, + 0.9583755731582642, + -0.28500810265541077, + -0.06767377629876137 + ], + [ + 0.012088143266737461, + 0.2852243483066559, + 0.9583845734596252, + 0.08346983503914722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.013170582242310047, + -0.01641548052430153, + 0.03573314286970898 + ], + [ + -0.017300555482506752, + 0.9584664106369019, + -0.2846803069114685, + -0.06790524449037469 + ], + [ + 0.011984280310571194, + 0.2849012613296509, + 0.9584819674491882, + 0.08405721864420111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.013317734003067017, + -0.015992529690265656, + 0.03463993558417196 + ], + [ + -0.017315302044153214, + 0.9586091041564941, + -0.28419846296310425, + -0.06787477164812711 + ], + [ + 0.011545705609023571, + 0.28441381454467773, + 0.9586321115493774, + 0.08449441917119142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.01368729118257761, + -0.015205700881779194, + 0.033074491488767545 + ], + [ + -0.01744253747165203, + 0.9586939811706543, + -0.2839042842388153, + -0.06758197256080482 + ], + [ + 0.010691733099520206, + 0.28411009907722473, + 0.9587320685386658, + 0.08495968160138506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421875, + 0.013676067814230919, + -0.014477606862783432, + 0.03189492000914786 + ], + [ + -0.01721770130097866, + 0.9589017629623413, + -0.2832152843475342, + -0.0679593277366265 + ], + [ + 0.01000933162868023, + 0.28340840339660645, + 0.9589470624923706, + 0.08547662203605084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.013848480768501759, + -0.01349636260420084, + 0.030143273498802244 + ], + [ + -0.017103176563978195, + 0.9589590430259705, + -0.283028244972229, + -0.06778885799905529 + ], + [ + 0.009022948332130909, + 0.28320616483688354, + 0.9590166211128235, + 0.08572662863475473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.999824583530426, + 0.013728667981922626, + -0.012739814817905426, + 0.028669964003822077 + ], + [ + -0.01677251234650612, + 0.9590147137641907, + -0.2828594148159027, + -0.06765574676835019 + ], + [ + 0.008334387093782425, + 0.28302350640296936, + 0.9590767621994019, + 0.08608105878102715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.013748432509601116, + -0.012272721156477928, + 0.027984377491773793 + ], + [ + -0.016660628840327263, + 0.9589675068855286, + -0.2830260992050171, + -0.06754313101587088 + ], + [ + 0.007877975702285767, + 0.2831825017929077, + 0.9590336680412292, + 0.08682803563652156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.013619882985949516, + -0.011728364042937756, + 0.02723726815969238 + ], + [ + -0.016384350135922432, + 0.9589269757270813, + -0.2831794321537018, + -0.06780569563093393 + ], + [ + 0.007389775477349758, + 0.28332582116127014, + 0.9589952230453491, + 0.08732965697898813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.013129913248121738, + -0.010828699916601181, + 0.025924117780169068 + ], + [ + -0.0156614538282156, + 0.9588568210601807, + -0.28345778584480286, + -0.06793824235058349 + ], + [ + 0.006661396473646164, + 0.2835863530635834, + 0.9589235782623291, + 0.08759474189466109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.012918918393552303, + -0.008521311916410923, + 0.02251520413581444 + ], + [ + -0.01480634231120348, + 0.9587716460227966, + -0.28379157185554504, + -0.06736667761984079 + ], + [ + 0.004503712058067322, + 0.2838837802410126, + 0.9588481187820435, + 0.08789753684490595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.012471792288124561, + -0.00764962425455451, + 0.021087864137750687 + ], + [ + -0.014129041694104671, + 0.9588639736175537, + -0.2835140824317932, + -0.06737943897428719 + ], + [ + 0.003799020778387785, + 0.2835918068885803, + 0.9589375853538513, + 0.08835538538658748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.012243223376572132, + -0.007329609245061874, + 0.02045260984045656 + ], + [ + -0.013818559236824512, + 0.9589112401008606, + -0.28336960077285767, + -0.06750237954699474 + ], + [ + 0.0035590874031186104, + 0.28344202041625977, + 0.9589827656745911, + 0.08893127629695378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.012170713394880295, + -0.007128079421818256, + 0.020062817674150447 + ], + [ + -0.013692483305931091, + 0.9588640332221985, + -0.2835354208946228, + -0.06767655439350917 + ], + [ + 0.0033840304240584373, + 0.28360480070114136, + 0.9589352607727051, + 0.08958095954123724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.012092404067516327, + -0.00668905908241868, + 0.019339333748971316 + ], + [ + -0.013493748381733894, + 0.9587841629981995, + -0.28381478786468506, + -0.06783623086369556 + ], + [ + 0.002981360536068678, + 0.283877968788147, + 0.9588558077812195, + 0.09021556046386452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.012219628319144249, + -0.006055587437003851, + 0.018371598386337333 + ], + [ + -0.013437382876873016, + 0.9586056470870972, + -0.28441986441612244, + -0.06786036324565825 + ], + [ + 0.0023294161073863506, + 0.28447476029396057, + 0.9586806893348694, + 0.09073785086688788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355713, + 0.012324619106948376, + -0.0058808960020542145, + 0.017898510449120532 + ], + [ + -0.0134885897859931, + 0.9585719108581543, + -0.28453120589256287, + -0.06856962124938551 + ], + [ + 0.0021305226255208254, + 0.28458401560783386, + 0.9586487412452698, + 0.09106092538441653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.012797458097338676, + -0.005433768033981323, + 0.017200438775446105 + ], + [ + -0.013815557584166527, + 0.9583991169929504, + -0.28509700298309326, + -0.0687659566493138 + ], + [ + 0.0015592018608003855, + 0.28514450788497925, + 0.9584832787513733, + 0.09165807707721126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.013290473259985447, + -0.005007470026612282, + 0.016573614440858364 + ], + [ + -0.01416697632521391, + 0.9582738876342773, + -0.2855004370212555, + -0.06876782700419426 + ], + [ + 0.0010040916968137026, + 0.2855425775051117, + 0.9583654999732971, + 0.09185425331816077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/tilt_down/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d6f380a1e1fe8136240e4cccb120357990e2881b --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/tilt_down/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.328274609458133e-05, + 0.00024083071165969047, + -0.00024375782231800258 + ], + [ + 7.308429485419765e-05, + 0.9999996611070443, + 0.000823919351756977, + 0.0007016772869974375 + ], + [ + -0.00024089102225843817, + -0.0008239017730611746, + 0.9999996611320557, + -0.00022578085190616548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 6.525219954338955e-06, + 0.0003922614145854647, + -0.0004426397499628365 + ], + [ + -7.184681635408197e-06, + 0.9999986090902294, + 0.001681202366828999, + 0.001386196119710803 + ], + [ + -0.00039224987267516553, + -0.0016812048215584879, + 0.9999984898734718, + -0.00035828238469548523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.340388878025324e-05, + 0.000725058855851522, + -0.0008916063234210014 + ], + [ + -7.541389641119167e-05, + 0.9999961427800738, + 0.0027725705320418275, + 0.0017944538267329335 + ], + [ + -0.0007248525507748127, + -0.002772624461894107, + 0.9999959041291234, + -0.00048292375868186355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767763, + 8.15427143684253e-06, + 0.0007772322591188016, + -0.001230201218277216 + ], + [ + -1.097617223422276e-05, + 0.9999933858223924, + 0.0036307698583888564, + 0.0020973188802599907 + ], + [ + -0.000777197477873415, + -0.0036307774753360244, + 0.9999930877509912, + -0.0006216545007191598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860659, + 0.00018643576088064849, + 0.0005777587692967736, + -0.0013141644885763526 + ], + [ + -0.00018902587180491542, + 0.9999899326494472, + 0.004486222368264151, + 0.002201290102675557 + ], + [ + -0.0005769165582023562, + -0.004486330523805562, + 0.9999897530615441, + -0.0006230720900930464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.00048386613453610297, + 0.0006015615193461693, + -0.0015541857574135065 + ], + [ + -0.000487010576762259, + 0.9999861798522368, + 0.005237988666929968, + 0.0022839626763015985 + ], + [ + -0.0005990187055431306, + -0.005238280117083014, + 0.999986117757268, + -0.0007114832988008857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007067146183137513, + 0.0004390970119175526, + -0.001776276738382876 + ], + [ + -0.00070937629789114, + 0.9999811806082659, + 0.006091397234845654, + 0.002352567855268717 + ], + [ + -0.0004347838694229722, + -0.006091706802604503, + 0.9999813563477471, + -0.0007973233587108552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007082889136079824, + 0.0004087374080811698, + -0.0025344528257846832 + ], + [ + -0.0007112507009878755, + 0.9999731363238442, + 0.007292013543636107, + 0.002192764077335596 + ], + [ + -0.0004035616002511233, + -0.007292301476464952, + 0.9999733118718024, + -0.0012557823210954666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.000789742550942407, + 0.00036247545324628416, + -0.003174397861585021 + ], + [ + -0.0007925998652353883, + 0.9999680668364905, + 0.007951459768183558, + 0.0029647715855389833 + ], + [ + -0.0003561842895578593, + -0.007951744057504161, + 0.9999683016339798, + -0.001391463098116219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006645804152386744, + 0.00017769880402743613, + -0.0035990632604807615 + ], + [ + -0.000666158040985465, + 0.9999590256403149, + 0.00903028861937711, + 0.0035080360248684883 + ], + [ + -0.00017169017519336194, + -0.009030404773350027, + 0.9999592028195738, + -0.0016313025262206793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0005100393335020819, + -0.00044252224664385556, + -0.003442529123276472 + ], + [ + -0.00050563202239573, + 0.9999508534650162, + 0.009902998998795277, + 0.0042982022278010845 + ], + [ + 0.00044755139970220625, + -0.009902772715127175, + 0.9999508570068826, + -0.001832514419220388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.0005214589813857867, + -0.0012261773164966524, + -0.002988985972478986 + ], + [ + -0.0005081002600491047, + 0.9999407941577156, + 0.010869809655735902, + 0.004896789323538542 + ], + [ + 0.0012317729415372014, + -0.010869176428974014, + 0.9999401492237289, + -0.0018242745427414775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.0005600423623137903, + -0.0012216692112751793, + -0.003259743098169565 + ], + [ + -0.0005456472281366587, + 0.9999308008789893, + 0.011751855486090982, + 0.005236689932644367 + ], + [ + 0.0012281661620363593, + -0.011751178680096347, + 0.9999302172506676, + -0.0020581718999892473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009752379351860557, + -0.0010829685681603776, + -0.0034779964480549097 + ], + [ + -0.000961759767960757, + 0.9999229332488556, + 0.012377134679811956, + 0.005369880236685276 + ], + [ + 0.0010949558345600963, + -0.012376080119649451, + 0.9999228350250214, + -0.002045868895947933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.0011399925336824858, + -0.001098719332217049, + -0.003452521748840809 + ], + [ + -0.001126102521084249, + 0.9999205053585909, + 0.012560747434447406, + 0.005649288184940815 + ], + [ + 0.001112951198592782, + -0.012559494159746672, + 0.9999205321104693, + -0.0020291705150157213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.001041002102246487, + -0.0009181808528140527, + -0.003567008301615715 + ], + [ + -0.001029227045364678, + 0.9999184106728655, + 0.012732858739480196, + 0.005819804035127163 + ], + [ + 0.0009313608170486987, + -0.012731901082580054, + 0.9999184920979421, + -0.0021641214843839407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007904550751189054, + -0.000560799348855633, + -0.0037485247012227774 + ], + [ + -0.0007832953124307096, + 0.9999196192254719, + 0.012654438553470515, + 0.005951376631855965 + ], + [ + 0.0005707570817321539, + -0.01265399267045042, + 0.9999197492567586, + -0.002361424034461379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008777379255915286, + -0.00026233808545892074, + -0.0038194137159734964 + ], + [ + -0.0008743436774238944, + 0.9999193539723612, + 0.012670109360362253, + 0.006132969632744789 + ], + [ + 0.00027343793772161007, + -0.012669874592004964, + 0.9999197177314711, + -0.0028207185678184032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999999523162842, + 0.0009455292975489282, + 0.0003393072490562287, + -0.004052267409861088 + ], + [ + -0.0009497980936430397, + 0.9999174894325773, + 0.012809342783093867, + 0.006612692028284073 + ], + [ + -0.000327167654177174, + -0.012809659423218977, + 0.999917898255579, + -0.0033247736282646656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0008926527959189879, + 0.001152611363871024, + -0.004231579601764679 + ], + [ + -0.0009077693102881312, + 0.999912703014614, + 0.013181766332396361, + 0.007344788406044245 + ], + [ + -0.0011407439596951008, + -0.013182798483966463, + 0.9999124351201647, + -0.003470770549029112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816958, + 0.0009292359143550007, + 0.0021750170841300324, + -0.004738643299788237 + ], + [ + -0.0009599670302122834, + 0.9998991519122968, + 0.014171013231484418, + 0.007709575351327658 + ], + [ + -0.0021616294980049138, + -0.01417306187998368, + 0.999897242112835, + -0.003999747801572084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819704, + 0.0007156550656925345, + 0.003197316805695836, + -0.005164026748389006 + ], + [ + -0.0007638561655767264, + 0.9998856892458209, + 0.015099793023009313, + 0.007995794527232647 + ], + [ + -0.003186145331710578, + -0.015102155268452547, + 0.9998809042036612, + -0.0044229053892195225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0008248727818125635, + 0.0033666496391911486, + -0.004093639552593231 + ], + [ + -0.0008764644735492766, + 0.9998817773392026, + 0.01535175361836298, + 0.008955394849181175 + ], + [ + -0.003353588515892625, + -0.015354610989582709, + 0.999876495416534, + -0.004112204071134329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.0006745697730754125, + 0.0045280109756514145, + -0.004344098269939423 + ], + [ + -0.000745337747503072, + 0.9998773289679629, + 0.0156454839960232, + 0.009475627914071083 + ], + [ + -0.0045169019140303135, + -0.01564869635814657, + 0.999867378727198, + -0.004245373420417309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112124, + 0.0004772166121457067, + 0.00595117583317413, + -0.00468664662912488 + ], + [ + -0.0005718327593058349, + 0.9998733013730599, + 0.015907170493281463, + 0.010042283684015274 + ], + [ + -0.0059428303502500075, + -0.01591028935939736, + 0.999855774813631, + -0.004498138092458248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 6.054736048660083e-07, + 0.0074505828938639515, + -0.004789970815181732 + ], + [ + -0.00012348577729426324, + 0.9998640126982362, + 0.016492256937100325, + 0.010566294193267822 + ], + [ + -0.0074495598673820496, + -0.016492720952800733, + 0.9998362603893111, + -0.004873818717896938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412783, + -0.0006943482211938125, + 0.008685713447971484, + -0.00472111813724041 + ], + [ + 0.0005401443922892214, + 0.9998424235378254, + 0.017743497630941588, + 0.01102322805672884 + ], + [ + -0.008696665056049825, + -0.017738132439733444, + 0.9998048721514619, + -0.0051261973567306995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.0011075879519226628, + 0.009961669869694033, + -0.0049355970695614815 + ], + [ + 0.000913787807803601, + 0.9998106304372505, + 0.01943813483307456, + 0.011602872982621193 + ], + [ + -0.009981312789022923, + -0.019428058547366317, + 0.9997614612865634, + -0.00561736011877656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0018116588044410778, + 0.011085308169194535, + -0.005288838408887386 + ], + [ + 0.0015737633220851421, + 0.9997690670494263, + 0.021431638307370996, + 0.011879313737154007 + ], + [ + -0.01112157478928566, + -0.021412841242364082, + 0.9997088752520327, + -0.005882738158106804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.002148591281878553, + 0.01203745495331749, + -0.005615083500742912 + ], + [ + 0.0018681212095543742, + 0.9997276245251739, + 0.02326277128706449, + 0.012192348949611187 + ], + [ + -0.012084159068763256, + -0.023238545108504215, + 0.9996568894810598, + -0.0058074770495295525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0026992048191102104, + 0.012846492672519036, + -0.0061649964191019535 + ], + [ + 0.0023827843833714724, + 0.9996949316475621, + 0.024582765095936012, + 0.012645784765481949 + ], + [ + -0.012908928096294403, + -0.024550035258009945, + 0.9996152349828812, + -0.005876082926988602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.0030914220295757584, + 0.013643349455590552, + -0.006732098292559385 + ], + [ + 0.002741764299571514, + 0.9996691974358788, + 0.025573146066994207, + 0.013429133221507072 + ], + [ + -0.0137178935110569, + -0.025533237844798152, + 0.9995798453474735, + -0.006000080145895481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353091, + -0.0035281437764820753, + 0.014577873961497418, + -0.0073025221936404705 + ], + [ + 0.0031446802895516166, + 0.9996506309211957, + 0.026244201824168336, + 0.014592857100069523 + ], + [ + -0.01466537453234196, + -0.026195406369590914, + 0.9995492762091441, + -0.005936699919402599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998697042465212, + -0.003722257655467251, + 0.015706521386626912, + -0.00789039209485054 + ], + [ + 0.0032985173165798196, + 0.9996321858243518, + 0.026918805292799636, + 0.0157245434820652 + ], + [ + -0.01580094359815121, + -0.026863488868372306, + 0.9995142021470644, + -0.006083647720515728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0040156859490648854, + 0.016526476056306725, + -0.00806096289306879 + ], + [ + 0.0035494978073984385, + 0.999597610724715, + 0.02814185034220238, + 0.01621232181787491 + ], + [ + -0.016632836312055588, + -0.02807911952898342, + 0.9994672958150925, + -0.00611044280230999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358828, + -0.004299657044171156, + 0.017435115330326087, + -0.00837711337953806 + ], + [ + 0.0037892842665314683, + 0.9995664075729802, + 0.029200814746966324, + 0.01681417226791382 + ], + [ + -0.01755310967564583, + -0.029130039128819177, + 0.9994214851973402, + -0.006062750238925219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703188, + -0.00478392144799176, + 0.018291889371638247, + -0.009046047925949097 + ], + [ + 0.0042317365296185025, + 0.9995376820629952, + 0.03010785490788415, + 0.017524998635053635 + ], + [ + -0.01842746697366238, + -0.030025066754053035, + 0.9993792770659341, + -0.006383625324815512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.00529563065604035, + 0.019069383168595286, + -0.00984921958297491 + ], + [ + 0.004697722382843494, + 0.9995001200743738, + 0.031263803145664334, + 0.017770111560821533 + ], + [ + -0.019225412979722023, + -0.031168100425199456, + 0.9993292681784077, + -0.005987047683447599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.005439030261700588, + 0.019581658842704252, + -0.010449638590216637 + ], + [ + 0.004809228703379631, + 0.9994741124465477, + 0.032067464257050635, + 0.018377816304564476 + ], + [ + -0.019745776429772377, + -0.03196666914899754, + 0.9992938760305656, + -0.005619703326374292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872744, + -0.0053970929345164296, + 0.019604527704591417, + -0.010650544427335262 + ], + [ + 0.004749181680381299, + 0.999445811537806, + 0.032946559728035604, + 0.018933238461613655 + ], + [ + -0.01977147907018662, + -0.0328466435356786, + 0.999264818218794, + -0.005413984879851341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.00519209634885884, + 0.019698432917309532, + -0.01086923386901617 + ], + [ + 0.00453932723030448, + 0.999443729738442, + 0.03303931860992166, + 0.02038380317389965 + ], + [ + -0.01985901966691017, + -0.032943046239486476, + 0.9992599044397302, + -0.00496062682941556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.004839516217729584, + 0.0198011768222701, + -0.011117706075310707 + ], + [ + 0.004184782970696688, + 0.9994474207832192, + 0.03297423776231184, + 0.022061560302972794 + ], + [ + -0.019949816167354584, + -0.032884525226196906, + 0.9992600404151838, + -0.004571196157485247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.0050515404995679835, + 0.019734914336447, + -0.011320549063384533 + ], + [ + 0.00437692366540432, + 0.9994095629786763, + 0.034078798591361974, + 0.02239304594695568 + ], + [ + -0.019895412027835846, + -0.03398534820114416, + 0.9992242548666571, + -0.004333108197897673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.0053447382283980304, + 0.01972880601302149, + -0.01156575232744217 + ], + [ + 0.004638054873794317, + 0.9993520445937973, + 0.03569344873137271, + 0.02211863361299038 + ], + [ + -0.019906792789697647, + -0.0355944888429031, + 0.9991680345827336, + -0.004114068578928709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943789, + -0.005421517749304774, + 0.019657965271639505, + -0.011762246489524841 + ], + [ + 0.004697425290942193, + 0.9993154596537588, + 0.03669546283672435, + 0.022527512162923813 + ], + [ + -0.0198434554040432, + -0.03659548895159577, + 0.9991331320393542, + -0.0039529926143586636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.005254796054389864, + 0.01985591120568049, + -0.01238012034446001 + ], + [ + 0.0045133475214242935, + 0.9992975187325801, + 0.03720350589683491, + 0.02312910556793213 + ], + [ + -0.020037459209561348, + -0.03710604266114605, + 0.9991104331241029, + -0.003400973277166486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107729, + -0.004608856732108164, + 0.019918088890237797, + -0.012843631207942963 + ], + [ + 0.0038687323685735473, + 0.9993063557612388, + 0.037038492816829784, + 0.024290304630994797 + ], + [ + -0.02007497660815716, + -0.03695369159461769, + 0.9991153173260262, + -0.0027151142712682486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.004303632232452203, + 0.02098654280483907, + -0.014666296541690826 + ], + [ + 0.003516518510878086, + 0.9992942073891552, + 0.037399363217686846, + 0.02479691244661808 + ], + [ + -0.021132685244083405, + -0.03731697906682691, + 0.9990799849877974, + -0.0025263044517487288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862002, + -0.003814268369968648, + 0.021578797169883878, + -0.015527021139860153 + ], + [ + 0.0030095144174993047, + 0.9993031358154723, + 0.037204048528455345, + 0.02587985433638096 + ], + [ + -0.021705664694309238, + -0.037130174657303505, + 0.9990746728312129, + -0.0020770265255123377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.0034951364605329887, + 0.021688535129852835, + -0.0157465860247612 + ], + [ + 0.002689081011340022, + 0.9993085430658204, + 0.03708353525696811, + 0.026956917718052864 + ], + [ + -0.021803151816129684, + -0.03701626326205402, + 0.9990767637702641, + -0.0014775393065065145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -0.0032310643614236246, + 0.02180311363414264, + -0.015972210094332695 + ], + [ + 0.002427538624033332, + 0.9993204199135761, + 0.036780053361049544, + 0.028238680213689804 + ], + [ + -0.021907133981585503, + -0.036718193328690925, + 0.999085510387216, + -0.0010596959618851542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + -0.002727393132308644, + 0.021882370042295648, + -0.0158870629966259 + ], + [ + 0.001948375254869461, + 0.9993662647088482, + 0.03554290624722387, + 0.03042495995759964 + ], + [ + -0.02196544222533703, + -0.035491628829560785, + 0.9991285423756546, + -0.00038084283005446196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + -0.0018535790234366152, + 0.02132472216611098, + -0.014831841923296452 + ], + [ + 0.0011531555792316794, + 0.9994608948676721, + 0.03281113381400784, + 0.03408017382025719 + ], + [ + -0.021374043077230453, + -0.032779027139665656, + 0.999234025555066, + 0.0005955059314146638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + -0.0013627224313879215, + 0.020971589107615197, + -0.014103689230978489 + ], + [ + 0.0007272117072716355, + 0.9995411374034374, + 0.030281257854468835, + 0.03708155080676079 + ], + [ + -0.021003231406211853, + -0.030259319793390013, + 0.9993213974278871, + 0.0013708749320358038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + -0.00018365367030820045, + 0.020806759868309856, + -0.013408508151769638 + ], + [ + -0.0003878616844303906, + 0.999622831561087, + 0.027460406614477347, + 0.04009505361318588 + ], + [ + -0.02080395445227623, + -0.027462533522333625, + 0.9994063531783031, + 0.002639136975631118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.0007386031901608517, + 0.020644063970210874, + -0.012800756841897964 + ], + [ + -0.0012360119726508856, + 0.999708978606989, + 0.024092150486048573, + 0.04372500628232956 + ], + [ + -0.020620262250304222, + -0.02411252490170401, + 0.9994965766867933, + 0.0035458658821880817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.0026487579004165016, + 0.02047453141080474, + -0.011709102429449558 + ], + [ + -0.003020811825990677, + 0.9998304996511721, + 0.018162017805483065, + 0.0505516417324543 + ], + [ + -0.020422954112291336, + -0.01821999380537687, + 0.9996253935754162, + 0.005608446896076202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.003518608648209485, + 0.019013661089970497, + -0.009270676411688328 + ], + [ + -0.0037986915558576584, + 0.9998845008074879, + 0.014714621198190125, + 0.05473789945244789 + ], + [ + -0.018959691748023033, + -0.014784101189085986, + 0.9997109322528132, + 0.006573264952749014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.002563516946446895, + 0.021808690845578783, + -0.013531168922781944 + ], + [ + -0.002972166985273361, + 0.9998202044161951, + 0.018726222284819436, + 0.050439100712537766 + ], + [ + -0.021756766363978386, + -0.018786522038778133, + 0.9995867557938969, + 0.005399863235652447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.004619061127652412, + 0.01963231977054664, + -0.010248021222651005 + ], + [ + -0.00483538955450058, + 0.9999279738745399, + 0.010985822987621444, + 0.05992954224348068 + ], + [ + -0.019580163061618805, + -0.011078517444791493, + 0.9997469150024796, + 0.008591740392148495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.012385058718668204, + 0.012978605754381459, + -0.0002956773096229881 + ], + [ + -0.012277067638933659, + 0.9998895971650806, + -0.008367554358495486, + 0.0814543142914772 + ], + [ + -0.013080805540084839, + 0.008206872312346243, + 0.9998807614621135, + 0.017912572249770164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605166, + 0.005256567982989344, + 0.02123034884445937, + -0.012738682329654694 + ], + [ + -0.005505872424691916, + 0.9999163522471689, + 0.011701508686501336, + 0.059689223766326904 + ], + [ + -0.021167062222957615, + -0.01181560275172148, + 0.9997061054216787, + 0.008452213369309902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.003891775766875159, + 0.023216213235884263, + -0.015865786001086235 + ], + [ + -0.004311687313020229, + 0.999827503813733, + 0.018064424984406705, + 0.051120955497026443 + ], + [ + -0.023141905665397644, + -0.01815952650097878, + 0.9995672485271139, + 0.007084906566888094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.003673225683667149, + 0.025260883808348313, + -0.019175933673977852 + ], + [ + -0.004120660945773125, + 0.9998351212823143, + 0.017683399731329583, + 0.050687722861766815 + ], + [ + -0.025191763415932655, + -0.01778172762228551, + 0.9995244854261537, + 0.006609875708818436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.004005172094965576, + 0.02586168387835427, + -0.02072504535317421 + ], + [ + -0.0044679357670247555, + 0.9998305073776113, + 0.01786088106733724, + 0.04919610172510147 + ], + [ + -0.025785762816667557, + -0.017970315626693344, + 0.9995059703910012, + 0.006899235304445028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515505, + 0.004061599029709512, + 0.025331249995517915, + -0.020879413932561874 + ], + [ + -0.004500090144574643, + 0.9998405976194402, + 0.01727735472453293, + 0.048123255372047424 + ], + [ + -0.025257037952542312, + -0.017385660193384632, + 0.9995297977021108, + 0.0072764134965837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469057, + 0.004483925225201775, + 0.025261676234891037, + -0.021332813426852226 + ], + [ + -0.004879595711827279, + 0.999866053232161, + 0.015623045121673979, + 0.04729153588414192 + ], + [ + -0.025188241153955467, + -0.015741170577263597, + 0.9995587886262747, + 0.007827586494386196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.004597593715822483, + 0.02558010176712465, + -0.02227165922522545 + ], + [ + -0.00497843511402607, + 0.9998773946623906, + 0.01484445892947941, + 0.04462145268917084 + ], + [ + -0.025508718565106392, + -0.014966803667510334, + 0.9995625637243236, + 0.007484283298254013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.005403085976766464, + 0.026514749181125914, + -0.023741137236356735 + ], + [ + -0.005721102003008127, + 0.9999124361378551, + 0.011932760519047802, + 0.04343773052096367 + ], + [ + -0.026447951793670654, + -0.012080080516927376, + 0.999577199122318, + 0.007522935979068279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.005787633732087607, + 0.02660686994797772, + -0.023985005915164948 + ], + [ + -0.006032766308635473, + 0.9999400173563546, + 0.00914208073921591, + 0.041074760258197784 + ], + [ + -0.026552362367510796, + -0.009299198891933803, + 0.9996041432937706, + 0.008428016677498817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.006454572423520315, + 0.027679528013341025, + -0.025566047057509422 + ], + [ + -0.006625215522944927, + 0.999959609196487, + 0.0060776853942313604, + 0.03822305053472519 + ], + [ + -0.027639180421829224, + -0.006258614054481983, + 0.9995983439816494, + 0.00807778537273407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.006587240533740787, + 0.02797389790029847, + -0.026061316952109337 + ], + [ + -0.006644922774285078, + 0.9999759808847476, + 0.001969523246467101, + 0.03578938543796539 + ], + [ + -0.02796025201678276, + -0.0021545957478083964, + 0.9996067295725319, + 0.008446995168924332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278506, + 0.007457635985923886, + 0.02923402149988304, + -0.02774033322930336 + ], + [ + -0.007394106592983009, + 0.9999700593546388, + -0.002280650218901877, + 0.03294655308127403 + ], + [ + -0.029250156134366996, + 0.0020634512355690755, + 0.9995699941959212, + 0.008520109578967094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995270967483523, + 0.007667969117183102, + 0.029779103440785767, + -0.028733350336551666 + ], + [ + -0.00745708402246237, + 0.9999463516850827, + -0.007186276565379804, + 0.030587051063776016 + ], + [ + -0.029832608997821815, + 0.006960806999539538, + 0.9995306589106915, + 0.008431117981672287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.008540365632639645, + 0.030475310796795562, + -0.02911990135908127 + ], + [ + -0.00817660242319107, + 0.9998940884296178, + -0.01204103622264483, + 0.027810262516140938 + ], + [ + -0.030574915930628777, + 0.011785820423643586, + 0.9994630162273146, + 0.009214079938828945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.009465329384508914, + 0.03180203924239112, + -0.030458373948931694 + ], + [ + -0.008924922905862331, + 0.999814081585031, + -0.01709204604749266, + 0.024722430855035782 + ], + [ + -0.03195790946483612, + 0.01679879609663131, + 0.9993480540709236, + 0.009441559202969074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.009921319984523566, + 0.03270310627242415, + -0.03126680478453636 + ], + [ + -0.009216981939971447, + 0.9997238349788005, + -0.021618203029620912, + 0.020964160561561584 + ], + [ + -0.03290855139493942, + 0.021304142810245716, + 0.9992312828356573, + 0.009663203731179237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394228, + 0.010688494669677803, + 0.033792822268081724, + -0.03213167563080788 + ], + [ + -0.009735409170389177, + 0.999553681911168, + -0.028243605630071535, + 0.019744904711842537 + ], + [ + -0.03407961875200272, + 0.027896878056811087, + 0.9990296769066687, + 0.010290536098182201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.010933508000099337, + 0.03450760678171914, + -0.032491352409124374 + ], + [ + -0.009789164178073406, + 0.9994021437705161, + -0.03315857537859548, + 0.01686481200158596 + ], + [ + -0.03484951704740524, + 0.03279904228503333, + 0.9988542224368904, + 0.010801422409713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.011340997214308911, + 0.03583615924031847, + -0.03315170854330063 + ], + [ + -0.009993080981075764, + 0.9992439787603805, + -0.03757110865225287, + 0.014409664086997509 + ], + [ + -0.03623516112565994, + 0.037186440173909756, + 0.9986511887090204, + 0.010759660042822361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.011201956571166101, + 0.03754386748125428, + -0.033955153077840805 + ], + [ + -0.00962134450674057, + 0.9990704437131052, + -0.042019835846714225, + 0.01268317922949791 + ], + [ + -0.037979673594236374, + 0.04162633867124071, + 0.9984111243330295, + 0.011049460619688034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067446, + 0.011107014189542954, + 0.038999335266705605, + -0.03404359146952629 + ], + [ + -0.009332213550806047, + 0.9989253054178876, + -0.045399228806493934, + 0.010148460045456886 + ], + [ + -0.0394616723060608, + 0.04499792894694878, + 0.9982073903270887, + 0.01116515975445509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.010851718661510587, + 0.04071685556812089, + -0.034159377217292786 + ], + [ + -0.008849537000060081, + 0.9987578557527281, + -0.04903527864991772, + 0.007520591374486685 + ], + [ + -0.04119839891791344, + 0.04863139678684123, + 0.9979667955324578, + 0.011440305039286613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.0108332153239068, + 0.04229575255649277, + -0.03392140939831734 + ], + [ + -0.008583861403167248, + 0.99855730335589, + -0.05300559230272149, + 0.0046462407335639 + ], + [ + -0.042808953672647476, + 0.052591981619429205, + 0.9976980894197507, + 0.011970431543886662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.011032573146189757, + 0.0448373165914969, + -0.03480193018913269 + ], + [ + -0.008463001810014248, + 0.9983325760188864, + -0.057099842408557415, + 0.0012178611941635609 + ], + [ + -0.045392513275146484, + 0.05665947492833562, + 0.9973611160712991, + 0.012267041020095348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.011294957127394195, + 0.04718693742888144, + -0.03522350639104843 + ], + [ + -0.008352922275662422, + 0.998035801842665, + -0.06208682240041721, + -0.0010112341260537505 + ], + [ + -0.04779551923274994, + 0.061619541473288984, + 0.996954662196097, + 0.01303884293884039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.011527854431711051, + 0.048946128350242916, + -0.035370904952287674 + ], + [ + -0.008270947262644768, + 0.9977701736362667, + -0.06622927433453299, + -0.004130963236093521 + ], + [ + -0.049600470811128616, + 0.06574066872960403, + 0.9966032375171076, + 0.013195759616792202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865725, + 0.012268035289231741, + 0.05133337473993074, + -0.03636749088764191 + ], + [ + -0.008579387329518797, + 0.9974058684896384, + -0.07146968057955513, + -0.0056544397957623005 + ], + [ + -0.05207699909806253, + 0.07092967248171485, + 0.9961209614902373, + 0.013562409207224846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.012521961336626516, + 0.05256898666270272, + -0.035885415971279144 + ], + [ + -0.008519092574715614, + 0.997095022213716, + -0.07568988289876519, + -0.008580725640058517 + ], + [ + -0.05336406081914902, + 0.07513145322534621, + 0.9957447014790004, + 0.01328994520008564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.013233219049246996, + 0.05437182353321306, + -0.03575124591588974 + ], + [ + -0.00883301068097353, + 0.9967247372244061, + -0.08038554586166591, + -0.011086724698543549 + ], + [ + -0.05525750294327736, + 0.07977931170811997, + 0.9952797799214187, + 0.013726753182709217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.013888187950900181, + 0.055885137011653874, + -0.035080436617136 + ], + [ + -0.009101630188524723, + 0.9963385038913698, + -0.08501028108253049, + -0.013367056846618652 + ], + [ + -0.05686115473508835, + 0.08436057766310719, + 0.9948116230726098, + 0.013594922609627247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302431, + 0.01427458683975794, + 0.058271567329619335, + -0.035376761108636856 + ], + [ + -0.009053947404026987, + 0.9960001743218588, + -0.08889162254377693, + -0.01695144921541214 + ], + [ + -0.059307377785444274, + 0.08820391271527157, + 0.994335300114217, + 0.01360415481030941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.014379637781124315, + 0.0601675358738188, + -0.03522169589996338 + ], + [ + -0.008665273897349834, + 0.9955175662142285, + -0.09417877873950785, + -0.01862589828670025 + ], + [ + -0.06125209853053093, + 0.09347703434603968, + 0.9937355247757446, + 0.013883354142308235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.014444225002265684, + 0.061706693228173126, + -0.03473407402634621 + ], + [ + -0.0082728061825037, + 0.9950409862778715, + -0.09912084389911617, + -0.019839487969875336 + ], + [ + -0.06283241510391235, + 0.09841110773537845, + 0.9931603048641667, + 0.013615529984235764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.013583107683123557, + 0.06285877090979107, + -0.03395984694361687 + ], + [ + -0.00716259004548192, + 0.9948340324932557, + -0.10126151000492506, + -0.024230152368545532 + ], + [ + -0.06390949338674545, + 0.1006016760769235, + 0.9928720246294244, + 0.013268069364130497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.014099455439204564, + 0.06528610911168538, + -0.03474706783890724 + ], + [ + -0.007085306569933891, + 0.9942931474296968, + -0.10644695587563933, + -0.02325519546866417 + ], + [ + -0.06641437858343124, + 0.10574669536322942, + 0.992172766899366, + 0.013215906918048859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990969, + 0.013856386377174163, + 0.06623158039774811, + -0.03406456112861633 + ], + [ + -0.006593511439859869, + 0.9940588731341671, + -0.10864405049723795, + -0.0255708210170269 + ], + [ + -0.06734350323677064, + 0.10795835824603903, + 0.9918718852030873, + 0.013306786306202412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731386, + 0.013584470459198273, + 0.06623451685318411, + -0.03267066925764084 + ], + [ + -0.006218820810317995, + 0.9938935054141845, + -0.11016807675088493, + -0.028019342571496964 + ], + [ + -0.06732662767171861, + 0.10950407043482045, + 0.9917035764775861, + 0.012878929264843464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430483, + 0.013169472078161841, + 0.06535163074943223, + -0.030844824388623238 + ], + [ + -0.005891245789825918, + 0.9938768125726946, + -0.11033683859756388, + -0.03259626403450966 + ], + [ + -0.06640455126762392, + 0.10970638793277292, + 0.991743414697189, + 0.012196147814393044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.013852367985985195, + 0.06532719084164966, + -0.030631572008132935 + ], + [ + -0.006352042779326439, + 0.9935004589271018, + -0.11365059230773157, + -0.03365588188171387 + ], + [ + -0.06647691875696182, + 0.11298190998596533, + 0.9913707316573518, + 0.012422516942024231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001589, + 0.014929216392754114, + 0.06515786539725242, + -0.030469972640275955 + ], + [ + -0.007149352692067625, + 0.9929833325942323, + -0.11803800345645016, + -0.03414693847298622 + ], + [ + -0.06646288931369783, + 0.11730812415803904, + 0.9908690783875379, + 0.012121842242777348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.015924231578068947, + 0.06479226460501503, + -0.030076002702116966 + ], + [ + -0.00790814682841301, + 0.9924809180489338, + -0.12214377435098801, + -0.03498550131917 + ], + [ + -0.06625013053417206, + 0.12135919301318093, + 0.9903953233081797, + 0.011648275889456272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.01724300879904588, + 0.06460177938536847, + -0.029745161533355713 + ], + [ + -0.008958176709711552, + 0.9919384812787484, + -0.12640322094144768, + -0.03553592786192894 + ], + [ + -0.06626056134700775, + 0.12554163070062577, + 0.9898731650060814, + 0.010651538148522377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9977687597274782, + 0.01808333125382445, + 0.06426873816310393, + -0.029375266283750534 + ], + [ + -0.009600468911230566, + 0.9914772370717373, + -0.12992574785449454, + -0.036240238696336746 + ], + [ + -0.06607048213481904, + 0.1290188200003983, + 0.9894386341203544, + 0.009419831447303295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.018361627064348792, + 0.06378321021996801, + -0.029044026508927345 + ], + [ + -0.00972452387213707, + 0.991045244670136, + -0.1331717799454926, + -0.03653376176953316 + ], + [ + -0.06565729528665543, + 0.13225783699582155, + 0.9890383989408071, + 0.008653270080685616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621279, + 0.018576962211914693, + 0.06272789625943281, + -0.028586696833372116 + ], + [ + -0.0099688358604908, + 0.9908158412655506, + -0.13485022309217481, + -0.03733515739440918 + ], + [ + -0.06465689837932588, + 0.13393603492996986, + 0.988878487469754, + 0.007181583438068628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.018413329069380185, + 0.0601415794739916, + -0.025846034288406372 + ], + [ + -0.010183447040617466, + 0.990877038293455, + -0.13438387426917067, + -0.03949844837188721 + ], + [ + -0.062067363411188126, + 0.13350538306065526, + 0.9891025769285693, + 0.005461425520479679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518923, + 0.018428805481466855, + 0.059074390436829334, + -0.02495458535850048 + ], + [ + -0.010300735011696817, + 0.9907852265950123, + -0.13505002266483795, + -0.03949110582470894 + ], + [ + -0.06101884320378305, + 0.13418267205739742, + 0.98907617295535, + 0.00395933398976922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.018446483655193992, + 0.05607300409851063, + -0.020853128284215927 + ], + [ + -0.010742219164967537, + 0.9908263975629067, + -0.1347132819908419, + -0.040077708661556244 + ], + [ + -0.058043595403432846, + 0.13387604242409787, + 0.9892967797297646, + 0.0032591968774795532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.018131282750013526, + 0.053973547056504007, + -0.01830657385289669 + ], + [ + -0.01075446791946888, + 0.9909295958071931, + -0.1339509228167199, + -0.040537599474191666 + ], + [ + -0.05591268837451935, + 0.1331531300251925, + 0.9895170869638603, + 0.002031467854976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.01800564845453901, + 0.05075580601005881, + -0.014168783091008663 + ], + [ + -0.011069864965975285, + 0.9909523409079577, + -0.13375690350841757, + -0.039744362235069275 + ], + [ + -0.05270496383309364, + 0.13300093297319143, + 0.9897135521881893, + 0.0016315141692757607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.017360839481130565, + 0.04742752292892941, + -0.010048428550362587 + ], + [ + -0.010880136862397194, + 0.9909712798869498, + -0.13363215122389246, + -0.03873104229569435 + ], + [ + -0.049319278448820114, + 0.1329455676436167, + 0.9898955031149693, + 0.0014080482069402933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.01672534006212627, + 0.04261562785066327, + -0.0036785821430385113 + ], + [ + -0.010894689708948135, + 0.990982372931076, + -0.13354846310391458, + -0.03805169463157654 + ], + [ + -0.04446497932076454, + 0.13294415581994157, + 0.9901255890708847, + 0.0018324683187529445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9990229010581972, + 0.014915905094678779, + 0.04160246835702692, + -0.003477150108665228 + ], + [ + -0.00932738743722439, + 0.9912822667235034, + -0.13142483616256287, + -0.039508286863565445 + ], + [ + -0.04320011287927628, + 0.13090839585804298, + 0.9904528150242066, + -0.00015693888417445123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.01469322444175408, + 0.03718424956753811, + 0.0022837824653834105 + ], + [ + -0.009684556163847446, + 0.9912742998955905, + -0.13145903107374476, + -0.038120586425065994 + ], + [ + -0.03879134729504585, + 0.13099381451024783, + 0.9906240055649748, + 6.261107046157122e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.013844050811047608, + 0.03600278536642642, + 0.0032973703928291798 + ], + [ + -0.009049003012478352, + 0.9914609966737242, + -0.13008907813977383, + -0.03842858225107193 + ], + [ + -0.03749631345272064, + 0.1296664856944043, + 0.9908484683150041, + -0.0012405960587784648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.999126732349396, + 0.012538050649871053, + 0.03985615496337982, + -0.0030830998439341784 + ], + [ + -0.007317073643207552, + 0.9916776295711202, + -0.12853778228223636, + -0.0388542115688324 + ], + [ + -0.04113606736063958, + 0.12813388340834822, + 0.9909033999468762, + -0.004204889293760061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.012981325294184796, + 0.031934744111200924, + 0.0078122313134372234 + ], + [ + -0.008797070011496544, + 0.9917560562136404, + -0.12783780249168458, + -0.03902797773480415 + ], + [ + -0.03333098068833351, + 0.12748089514973449, + 0.991280845268798, + -0.004126246552914381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199953, + 0.012560979178810053, + 0.03156468018292802, + 0.008189618587493896 + ], + [ + -0.008438151329755785, + 0.9918017751069478, + -0.12750708487075987, + -0.03897227719426155 + ], + [ + -0.032907519489526756, + 0.1271671213139959, + 0.9913352475126904, + -0.004280343651771545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492129, + 0.011780453072882377, + 0.030871197591435123, + 0.008157717995345592 + ], + [ + -0.007757614832371475, + 0.9918300954325828, + -0.12733004103436785, + -0.03881730139255524 + ], + [ + -0.03211898729205132, + 0.1270210544074862, + 0.9913798635230764, + -0.00610582809895277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.011074453237666693, + 0.029938581572851924, + 0.008785749785602093 + ], + [ + -0.007185886148363352, + 0.9918764359393314, + -0.12700216857433308, + -0.039072874933481216 + ], + [ + -0.031101852655410767, + 0.12672231199396786, + 0.9914505018037949, + -0.007230418734252453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.999534606933594, + 0.010455062524685768, + 0.028657928664427686, + 0.009960376657545567 + ], + [ + -0.0067417924292385596, + 0.9919141144760822, + -0.1267317396276797, + -0.03933430463075638 + ], + [ + -0.02975119091570378, + 0.12647954238859796, + 0.9915229648763507, + -0.008351432159543037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.010618468465738764, + 0.026954979615650524, + 0.012422828003764153 + ], + [ + -0.007122847717255354, + 0.9919264617631178, + -0.12661415017631836, + -0.03926285356283188 + ], + [ + -0.028081808239221573, + 0.1263690254217599, + 0.9915857397596712, + -0.008852201513946056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.010337867422491837, + 0.025739902187531236, + 0.01424079667776823 + ], + [ + -0.007002733647823334, + 0.9919492755133115, + -0.1264418419549705, + -0.03923498094081879 + ], + [ + -0.026839815080165863, + 0.12621296363876763, + 0.9916400159048581, + -0.009985119104385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.010092775535316272, + 0.024429186312349065, + 0.01609765738248825 + ], + [ + -0.006950950715690851, + 0.9920773792594595, + -0.12543572081708598, + -0.039727214723825455 + ], + [ + -0.025501638650894165, + 0.12522210049019553, + 0.9918009194741396, + -0.011188683100044727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9996794462203982, + 0.0097650464224313, + 0.023358393398832028, + 0.017798669636249542 + ], + [ + -0.006781786680221559, + 0.9921907694800834, + -0.12454521735743768, + -0.039527084678411484 + ], + [ + -0.024392170831561096, + 0.12434691638186547, + 0.9919389421022243, + -0.01187854167073965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.009683894520847981, + 0.022104194137871833, + 0.019795801490545273 + ], + [ + -0.006886289454996586, + 0.9923453617602495, + -0.12330165119762633, + -0.03965411335229874 + ], + [ + -0.023129034787416458, + 0.12311353562133742, + 0.9921230408960909, + -0.012714854441583157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.009438287162239354, + 0.02110939925504248, + 0.021146181970834732 + ], + [ + -0.006793595850467682, + 0.9925044202474952, + -0.1220197011530132, + -0.03992648795247078 + ], + [ + -0.022102829068899155, + 0.12184367304544802, + 0.99230315152126, + -0.013332733884453773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.009370791466123945, + 0.019919095590083882, + 0.022052040323615074 + ], + [ + -0.006899069529026747, + 0.9926626179804573, + -0.12072018645335468, + -0.04038437455892563 + ], + [ + -0.020904185250401497, + 0.1205535093734125, + 0.9924867277277988, + -0.013723262585699558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012087, + 0.00910758700625249, + 0.018172600035868767, + 0.023390378803014755 + ], + [ + -0.0068777883425354975, + 0.992847075177315, + -0.11919454345669396, + -0.041218873113393784 + ], + [ + -0.019128188490867618, + 0.11904492485432844, + 0.9927045942510452, + -0.014274068176746368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.008729406678309144, + 0.016391187564307172, + 0.02457660436630249 + ], + [ + -0.006735567003488541, + 0.9929930859429117, + -0.11798016240438405, + -0.042012229561805725 + ], + [ + -0.017306232824921608, + 0.11784942167461147, + 0.9928806629354534, + -0.014613122679293156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.00842541820549705, + 0.014623302201208542, + 0.02558647282421589 + ], + [ + -0.006657890044152737, + 0.9931133864094507, + -0.11696770421155625, + -0.04293472692370415 + ], + [ + -0.015508098527789116, + 0.11685365753240495, + 0.9930280670938906, + -0.014837506227195263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.007935154157954438, + 0.0131109408403742, + 0.026170870289206505 + ], + [ + -0.006358100101351738, + 0.9932021885485913, + -0.11622806538687326, + -0.0438222661614418 + ], + [ + -0.013944102451205254, + 0.11613107281277094, + 0.9931360324291847, + -0.014653231017291546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634402, + 0.007548923746525208, + 0.011348151043779767, + 0.02717563323676586 + ], + [ + -0.006183892488479616, + 0.9932479842682557, + -0.11584574310083372, + -0.04406819865107536 + ], + [ + -0.012146038934588436, + 0.11576482367963607, + 0.9932023785285261, + -0.014408111572265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.0074698537282061935, + 0.008997489490588373, + 0.029363339766860008 + ], + [ + -0.006386688444763422, + 0.9933546133505, + -0.11491670463769146, + -0.04449159651994705 + ], + [ + -0.00979610811918974, + 0.11485135743712407, + 0.9933343752591769, + -0.014103386551141739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.007672650090614136, + 0.006857593691840024, + 0.03159506991505623 + ], + [ + -0.006839944049715996, + 0.9934408890687574, + -0.11414236478165707, + -0.044138289988040924 + ], + [ + -0.007688388228416443, + 0.11408943397607368, + 0.9934407209940606, + -0.013832001015543938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.007409102777665044, + 0.005782298524847612, + 0.03238845616579056 + ], + [ + -0.006710602901875973, + 0.9936104962155929, + -0.11266386221854124, + -0.04426499456167221 + ], + [ + -0.0065800901502370834, + 0.11262006444214417, + 0.9936163088060708, + -0.013587655499577522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.007178056435002053, + 0.004363902976049245, + 0.03374508023262024 + ], + [ + -0.006649356335401535, + 0.9937976464018485, + -0.11100479004568459, + -0.04411334916949272 + ], + [ + -0.005133634898811579, + 0.11097188582713255, + 0.9938103054143808, + -0.012893551029264927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.006960728606376041, + 0.0031321033495763113, + 0.0348312109708786 + ], + [ + -0.006577573716640472, + 0.9940109075734759, + -0.10908274145759034, + -0.04404694586992264 + ], + [ + -0.0038726404309272766, + 0.10905894712574876, + 0.9940277197023435, + -0.012001294642686844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.0070175661493584365, + 0.001657088012131703, + 0.03628191724419594 + ], + [ + -0.006799705326557159, + 0.9942233364664439, + -0.10711548382649916, + -0.043756015598773956 + ], + [ + -0.002399205695837736, + 0.10710146390726699, + 0.9942451938890038, + -0.011247974820435047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.007329928492302141, + 0.00016125181328452743, + 0.037614237517118454 + ], + [ + -0.007272626273334026, + 0.9944622141566205, + -0.10484269200057124, + -0.04354531317949295 + ], + [ + -0.0009288478759117424, + 0.10483867856269018, + 0.9944888298891277, + -0.010554447770118713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.007645993794305367, + -0.001444099786901505, + 0.03891344740986824 + ], + [ + -0.007753776852041483, + 0.9946980597031052, + -0.10254608833961533, + -0.0432196706533432 + ], + [ + 0.0006523765623569489, + 0.1025541706597554, + 0.994727215938651, + -0.010112387128174305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.008068617972059091, + -0.002759574132954138, + 0.0396217405796051 + ], + [ + -0.008303535170853138, + 0.9949846073375187, + -0.09968307716820772, + -0.043424878269433975 + ], + [ + 0.0019414287526160479, + 0.09970234175806554, + 0.9950154212533964, + -0.009692234918475151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.008523722856618973, + -0.003751647329287669, + 0.04007722809910774 + ], + [ + -0.008846807293593884, + 0.995267677186093, + -0.0967674977648315, + -0.04351823776960373 + ], + [ + 0.0029090745374560356, + 0.09679646882497378, + 0.9952999358436342, + -0.009074483998119831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9999442696571352, + 0.009148302139155037, + -0.005267810113257843, + 0.041406918317079544 + ], + [ + -0.009602380916476251, + 0.9955408724545505, + -0.09384113857508791, + -0.04348215088248253 + ], + [ + 0.004385833628475667, + 0.0938864872288405, + 0.9955732602495053, + -0.008720694109797478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.010000367277565515, + -0.00628786896089513, + 0.04215744882822037 + ], + [ + -0.010531414300203323, + 0.9957924180759681, + -0.09103073397840597, + -0.043374430388212204 + ], + [ + 0.005351071245968342, + 0.09109061416621596, + 0.9958282475052566, + -0.007909486070275307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301028, + 0.010836314238018454, + -0.007331701623200401, + 0.04317447170615196 + ], + [ + -0.011442153714597227, + 0.99602112086698, + -0.08838007327014369, + -0.043367017060518265 + ], + [ + 0.0063448157161474245, + 0.08845643482105947, + 0.996059813421956, + -0.0071802944876253605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.01137997956850349, + -0.008021030207530434, + 0.043502938002347946 + ], + [ + -0.012028098106384277, + 0.9962209135682409, + -0.08601877074603302, + -0.04321218654513359 + ], + [ + 0.007011826150119305, + 0.08610688827893247, + 0.9962612031496322, + -0.006647646892815828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.011802621124758049, + -0.008663878229139646, + 0.04355468973517418 + ], + [ + -0.012486658990383148, + 0.9964141723498805, + -0.08368341712629164, + -0.043271634727716446 + ], + [ + 0.007645128294825554, + 0.0837826047394716, + 0.996454726413681, + -0.006354691460728645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.012100755806368203, + -0.009300327936693414, + 0.043449390679597855 + ], + [ + -0.01281923707574606, + 0.9965883048344536, + -0.08153181448780084, + -0.04333419352769852 + ], + [ + 0.008282002061605453, + 0.0816415512907526, + 0.9966273345287527, + -0.005925177130848169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.01250523195015451, + -0.010719099731817028, + 0.04435497149825096 + ], + [ + -0.013320253230631351, + 0.9967315995333157, + -0.07967898241280631, + -0.0431438647210598 + ], + [ + 0.00968766026198864, + 0.07981093169565547, + 0.9967629550348485, + -0.005606982856988907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.012957073411214586, + -0.0107862655607745, + 0.043658480048179626 + ], + [ + -0.013758896850049496, + 0.9968644308363191, + -0.07792281523838954, + -0.042713988572359085 + ], + [ + 0.009742794558405876, + 0.07806013031718588, + 0.9969010684513251, + -0.005343505181372166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.013338869015590974, + -0.011516772121751374, + 0.04376025125384331 + ], + [ + -0.01417627651244402, + 0.9970080739417013, + -0.07598619714149805, + -0.0423591285943985 + ], + [ + 0.010468745604157448, + 0.07613763528981941, + 0.9970423652158653, + -0.005323128774762154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999836325645447, + 0.013771472248236083, + -0.011733987559481504, + 0.04342944920063019 + ], + [ + -0.014599075540900234, + 0.9971781034595861, + -0.07363864076582614, + -0.042486004531383514 + ], + [ + 0.010686762630939485, + 0.07379789642591852, + 0.9972159496317102, + -0.0048584057949483395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.0143511251073321, + -0.011672400492944482, + 0.04290878027677536 + ], + [ + -0.015150830149650574, + 0.9973193718482879, + -0.07158624727406378, + -0.04225385934114456 + ], + [ + 0.010613768361508846, + 0.07175083751780642, + 0.9973661048708122, + -0.004670918453484774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.014776906706333269, + -0.011612186028662989, + 0.04237155243754387 + ], + [ + -0.015548942610621452, + 0.9974622980191387, + -0.06947773886154475, + -0.04238681122660637 + ], + [ + 0.010556051507592201, + 0.0696460161502822, + 0.9975159171552829, + -0.0043692742474377155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.015072335092988158, + -0.011598444153815057, + 0.04183276742696762 + ], + [ + -0.015820525586605072, + 0.9976021735572203, + -0.06737710199433555, + -0.04251337796449661 + ], + [ + 0.010555103421211243, + 0.06754839954906672, + 0.9976601584722345, + -0.0041605569422245026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.015251800700801761, + -0.012040687605380076, + 0.041630808264017105 + ], + [ + -0.016006914898753166, + 0.9977352220951426, + -0.06533131306515215, + -0.04233820363879204 + ], + [ + 0.011016998440027237, + 0.06551171724377602, + 0.9977909662681381, + -0.00395307457074523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.015222427452890007, + -0.01257914571074346, + 0.04139115288853645 + ], + [ + -0.015984533354640007, + 0.9978926221043132, + -0.06288729792748746, + -0.04264175519347191 + ], + [ + 0.011595341376960278, + 0.0630760755755794, + 0.997941394044676, + -0.0036976919509470463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.015497236461537342, + -0.013234116862144294, + 0.04027066379785538 + ], + [ + -0.016277389600872993, + 0.9980030123974444, + -0.06103331478921842, + -0.04248373955488205 + ], + [ + 0.012261840514838696, + 0.06123604995673207, + 0.998048021707148, + -0.003177390666678548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.01593574725210729, + -0.013496518764628715, + 0.03997959569096565 + ], + [ + -0.016713786870241165, + 0.9980797033664838, + -0.05964468872298397, + -0.04160626605153084 + ], + [ + 0.012520119547843933, + 0.059857274347133886, + 0.9981284145333862, + -0.003533156355842948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.01536828162048505, + -0.01354367350956389, + 0.03988258168101311 + ], + [ + -0.016128212213516235, + 0.9981914247836484, + -0.057912032481209234, + -0.04149898141622543 + ], + [ + 0.012629170902073383, + 0.05811835117444434, + 0.9982298004639186, + -0.003149065189063549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.01537893336226336, + -0.013349736246827788, + 0.03939353674650192 + ], + [ + -0.016109328716993332, + 0.9982755655977171, + -0.05644866305605098, + -0.041707925498485565 + ], + [ + 0.012458594515919685, + 0.056652003788202406, + 0.9983162391858751, + -0.003162121633067727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998009800910952, + 0.015195803061259321, + -0.012925228884736581, + 0.03862437233328819 + ], + [ + -0.01588142476975918, + 0.9983760180652634, + -0.05470993269667304, + -0.04250091686844826 + ], + [ + 0.012072877027094368, + 0.054904300328500744, + 0.9984186605053654, + -0.0033562583848834038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692446, + 0.01586626549399166, + -0.013131950483017792, + 0.03847857937216759 + ], + [ + -0.01655310206115246, + 0.9984058317588672, + -0.05396142528022595, + -0.04213077202439308 + ], + [ + 0.01225484907627106, + 0.054167378673632284, + 0.9984566843073759, + -0.003097075968980789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348208, + 0.016266916683654258, + -0.012967608945926187, + 0.03783102706074715 + ], + [ + -0.016930688172578815, + 0.9984596326317038, + -0.05283672785697503, + -0.04196108877658844 + ], + [ + 0.012088143266737465, + 0.05304486380000518, + 0.9985189842645875, + -0.0029931210447102785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.016664433700579108, + -0.012854138900921326, + 0.037223026156425476 + ], + [ + -0.017300555482506752, + 0.9985449273118148, + -0.051076076613583606, + -0.04206741228699684 + ], + [ + 0.011984280310571194, + 0.05128716108029536, + 0.9986120556756847, + -0.002935438184067607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.016725534086644008, + -0.012384649950119113, + 0.036100123077631 + ], + [ + -0.017315302044153214, + 0.9986411415766074, + -0.04915334447295989, + -0.04192621633410454 + ], + [ + 0.011545705609023571, + 0.049357125650224036, + 0.9987144823947536, + -0.003032860578969121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.01691468248377231, + -0.011508640045460348, + 0.03447110205888748 + ], + [ + -0.01744253747165203, + 0.99872244460315, + -0.04742647770919768, + -0.04150598123669624 + ], + [ + 0.010691733099520206, + 0.04761730072147796, + 0.9988084502616604, + -0.0030977746937423944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421877, + 0.0167457444173552, + -0.010780351350553195, + 0.03323252499103546 + ], + [ + -0.017217701300978664, + 0.9988256113748517, + -0.0452867128636507, + -0.041792698204517365 + ], + [ + 0.010009331628680231, + 0.045463359588464154, + 0.9989158496657716, + -0.0031217478681355715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.016692010052926424, + -0.009762634046846028, + 0.03139755502343178 + ], + [ + -0.017103176563978195, + 0.9988995687897969, + -0.04367018576675691, + -0.04148568958044052 + ], + [ + 0.009022948332130909, + 0.04382899436825457, + 0.9989983136246731, + -0.0033993725664913654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998245835304262, + 0.01640633683777629, + -0.009033898256999299, + 0.029860859736800194 + ], + [ + -0.016772512346506122, + 0.9989737987071103, + -0.04207159686645635, + -0.04121454060077667 + ], + [ + 0.008334387093782427, + 0.04221576544164576, + 0.9990737560939612, + -0.0035717689897865057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.016324525840626308, + -0.008552715190770803, + 0.02913828007876873 + ], + [ + -0.016660628840327263, + 0.9990274799831602, + -0.04082335522651911, + -0.04093252494931221 + ], + [ + 0.007877975702285767, + 0.040958922048210916, + 0.9991297575705336, + -0.0033419777173548937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.01607865354609557, + -0.008033220762512429, + 0.028346363455057144 + ], + [ + -0.016384350135922432, + 0.999082831975941, + -0.03956046540313749, + -0.041026771068573 + ], + [ + 0.007389775477349758, + 0.03968566707990872, + 0.9991848710768841, + -0.0033579347655177116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.01539350422814103, + -0.007259159136236468, + 0.02695402130484581 + ], + [ + -0.0156614538282156, + 0.999138711496273, + -0.038425965690413476, + -0.040978942066431046 + ], + [ + 0.006661396473646164, + 0.038534117085403746, + 0.9992350926642743, + -0.0036072288639843464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.01462761466815434, + -0.005054116970948219, + 0.023330286145210266 + ], + [ + -0.01480634231120348, + 0.9991925698869936, + -0.03734881197748292, + -0.04022139683365822 + ], + [ + 0.004503712058067322, + 0.037419193766158244, + 0.9992895073569431, + -0.00381837016902864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.013984556825621098, + -0.004300526073048064, + 0.02182372473180294 + ], + [ + -0.014129041694104671, + 0.9992649679212671, + -0.03563535777981358, + -0.04010661691427231 + ], + [ + 0.003799020778387785, + 0.03569228745667826, + 0.9993556254680885, + -0.0038902410306036472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.013689199828976878, + -0.004028088675324584, + 0.021161669865250587 + ], + [ + -0.013818559236824512, + 0.9993242160682502, + -0.03406182927436572, + -0.040089450776576996 + ], + [ + 0.0035590874031186104, + 0.034114017030077, + 0.9994116057163888, + -0.003839882556349039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.013573972631665439, + -0.0038318465233964176, + 0.020756255835294724 + ], + [ + -0.013692483305931091, + 0.9993677612225277, + -0.032812298580032935, + -0.04009348899126053 + ], + [ + 0.0033840304240584373, + 0.032861495247445756, + 0.9994541707672504, + -0.0037067641969770193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.01339244425889278, + -0.0034076655224101852, + 0.019993698224425316 + ], + [ + -0.013493748381733894, + 0.9994069391552974, + -0.03168083008814265, + -0.04007174074649811 + ], + [ + 0.002981360536068678, + 0.03172380137276617, + 0.9994922519487184, + -0.003585551166906953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.013358966606095785, + -0.0027436229118537165, + 0.0189672838896513 + ], + [ + -0.013437382876873016, + 0.999432484130654, + -0.030889408640956354, + -0.039882104843854904 + ], + [ + 0.0023294161073863506, + 0.030923381364751167, + 0.9995190332519222, + -0.003567151725292206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355715, + 0.01341961388434522, + -0.002528860833146666, + 0.01848020777106285 + ], + [ + -0.013488589785993103, + 0.9994713223579481, + -0.029583630557865708, + -0.040425773710012436 + ], + [ + 0.002130522625520826, + 0.029615005609017565, + 0.9995591140464871, + -0.003761939238756895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.013764988864795697, + -0.0019559781062954036, + 0.01774086244404316 + ], + [ + -0.013815557584166527, + 0.9994910947260428, + -0.028752741193590094, + -0.04041120037436485 + ], + [ + 0.0015592018608003855, + 0.028776977875633852, + 0.9995846495256392, + -0.003669335972517729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.014133639976091494, + -0.0013970170249631914, + 0.017074361443519592 + ], + [ + -0.01416697632521391, + 0.9995144472105707, + -0.027752712991462383, + -0.04021778330206871 + ], + [ + 0.0010040916968137026, + 0.027769706555046684, + 0.9996138446946286, + -0.00398229667916894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/tilt_up/transforms.json b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7e99703f47cd89746c0c91607f147a2264f164f1 --- /dev/null +++ b/dynpose_eval/camera_controls/ea39c7c6-1043-4140-b704-d9d9007dc299/tilt_up/transforms.json @@ -0,0 +1,6488 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 185, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.8610126870917156e-05, + 9.712618339108303e-05, + -7.344704499701038e-05 + ], + [ + 5.861187310074456e-05, + 1.0, + -1.7983426005230285e-05, + -1.9687482563313097e-05 + ], + [ + -9.712513565318659e-05, + 1.7989119442063384e-05, + 1.0, + -5.511898052645847e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + -7.25971314733041e-05, + 0.0002410382730097518, + -0.00024375782231800258 + ], + [ + 7.308429485419765e-05, + 0.9999979568411848, + -0.0020217246988257238, + 0.0007016772869974375 + ], + [ + -0.00024089102225843817, + 0.0020217422775215266, + 0.9999979568161733, + -0.00022578085190616548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999999403953552, + 8.75757609800324e-06, + 0.00039221792504796357, + -0.0004426397499628365 + ], + [ + -7.184681635408197e-06, + 0.9999919819199364, + -0.004010077259730156, + 0.001386196119710803 + ], + [ + -0.00039224987267516553, + 0.004010074126546821, + 0.9999918627190802, + -0.00035828238469548523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997615814209, + 7.959092025450667e-05, + 0.0007244057983960528, + -0.0008916063234210014 + ], + [ + -7.541389641119167e-05, + 0.9999833724702704, + -0.005764330435122075, + 0.0017944538267329335 + ], + [ + -0.0007248525507748127, + 0.005764274469911692, + 0.9999831342884065, + -0.00048292375868186355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767763, + 1.7000462141441638e-05, + 0.0007770890946632561, + -0.001230201218277216 + ], + [ + -1.097617223422276e-05, + 0.9999699320064253, + -0.0077517263472170325, + 0.0020973188802599907 + ], + [ + -0.000777197477873415, + 0.00775171533801437, + 0.9999696340410319, + -0.0006216545007191598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860659, + 0.00019463709584842102, + 0.0005750477278923563, + -0.0013141644885763526 + ], + [ + -0.00018902587180491542, + 0.9999525429850318, + -0.0097418360257056, + 0.002201290102675557 + ], + [ + -0.0005769165582023562, + 0.009741725325980293, + 0.9999523649541162, + -0.0006230720900930464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997019767761, + 0.000494066094645624, + 0.000593212771129047, + -0.0015541857574135065 + ], + [ + -0.000487010576762259, + 0.9999298552446275, + -0.011835582419258842, + 0.0022839626763015985 + ], + [ + -0.0005990187055431306, + 0.011835289951436012, + 0.9999297981346507, + -0.0007114832988008857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999996423721313, + 0.0007153204379849209, + 0.0004249334166835266, + -0.001776276738382876 + ], + [ + -0.00070937629789114, + 0.9999041269670395, + -0.013827637732336548, + 0.002352567855268717 + ], + [ + -0.0004347838694229722, + 0.013827331726406308, + 0.9999043088376891, + -0.0007973233587108552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999996423721313, + 0.0007174095557051058, + 0.0003925085773430837, + -0.0025344528257846832 + ], + [ + -0.0007112507009878755, + 0.9998800176730422, + -0.015472462280540339, + 0.002192764077335596 + ], + [ + -0.0004035616002511233, + 0.01547217841835216, + 0.9998801997297853, + -0.0012557823210954666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999996423721313, + 0.0007987658387093943, + 0.00034213284830018496, + -0.003174397861585021 + ], + [ + -0.0007925998652353883, + 0.9998437595094654, + -0.017658340101246305, + 0.0029647715855389833 + ], + [ + -0.0003561842895578593, + 0.01765806191785168, + 0.9998440015100393, + -0.001391463098116219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999997615814209, + 0.0006693673504319847, + 0.0001587178107436423, + -0.0035990632604807615 + ], + [ + -0.000666158040985465, + 0.9998111199529877, + -0.019424816355107552, + 0.0035080360248684883 + ], + [ + -0.00017169017519336194, + 0.01942470528937366, + 0.9998113003653984, + -0.0016313025262206793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997615814209, + 0.0004959398661663626, + -0.0004582681634598498, + -0.003442529123276472 + ], + [ + -0.00050563202239573, + 0.9997709408395753, + -0.02139730327249281, + 0.0042982022278010845 + ], + [ + 0.00044755139970220625, + 0.02139752955616091, + 0.999770937297709, + -0.001832514419220388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999991059303284, + 0.00047929192759263445, + -0.001243265671086985, + -0.002988985972478986 + ], + [ + -0.0005081002600491047, + 0.9997289584087286, + -0.023275616032960147, + 0.004896789323538542 + ], + [ + 0.0012317729415372014, + 0.023276226871802693, + 0.9997282922316592, + -0.0018242745427414775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999991059303284, + 0.0005144758135162315, + -0.0012415465140986628, + -0.003259743098169565 + ], + [ + -0.0005456472281366587, + 0.9996813125800845, + -0.02523858022992573, + 0.005236689932644367 + ], + [ + 0.0012281661620363593, + 0.025239234987397906, + 0.999680704319429, + -0.0020581718999892473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999998927116394, + 0.0009313311003502382, + -0.001120951529447065, + -0.0034779964480549097 + ], + [ + -0.000961759767960757, + 0.9996224876128678, + -0.02745811644195015, + 0.005369880236685276 + ], + [ + 0.0010949558345600963, + 0.02745916625324339, + 0.999622347465422, + -0.002045868895947933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999987483024597, + 0.001092069922228273, + -0.0011463640053681143, + -0.003452521748840809 + ], + [ + -0.001126102521084249, + 0.9995457137279447, + -0.0301190235695872, + 0.005649288184940815 + ], + [ + 0.001112951198592782, + 0.030120276844287933, + 0.9995456869760662, + -0.0020291705150157213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999990463256836, + 0.0009981326508867227, + -0.0009646101111795326, + -0.003567008301615715 + ], + [ + -0.001029227045364678, + 0.9994616998341069, + -0.032791222285029564, + 0.005819804035127163 + ], + [ + 0.0009313608170486987, + 0.03279218265551435, + 0.9994617375874308, + -0.0021641214843839407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999995231628418, + 0.0007624116958205408, + -0.0005983673967841025, + -0.0037485247012227774 + ], + [ + -0.0007832953124307096, + 0.9993617560636493, + -0.0357135862732303, + 0.005951376631855965 + ], + [ + 0.0005707570817321539, + 0.03571403792255356, + 0.9993618643812007, + -0.002361424034461379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999995827674866, + 0.0008631552303963696, + -0.0003069335194196976, + -0.0038194137159734964 + ], + [ + -0.0008743436774238944, + 0.9992566191596519, + -0.03854160330513362, + 0.006132969632744789 + ], + [ + 0.00027343793772161007, + 0.038541856389766996, + 0.9992569704217192, + -0.0028207185678184032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999999523162842, + 0.000962484093996282, + 0.00028771414735746174, + -0.004052267409861088 + ], + [ + -0.0009497980936430397, + 0.9991485602182619, + -0.04124584281424699, + 0.006612692028284073 + ], + [ + -0.000327167654177174, + 0.04124554872999509, + 0.999148985555385, + -0.0033247736282646656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999998927116394, + 0.0009567705593694134, + 0.0010999691208895585, + -0.004231579601764679 + ], + [ + -0.0009077693102881312, + 0.9990435495289829, + -0.04371680178334482, + 0.007344788406044245 + ], + [ + -0.0011407439596951008, + 0.043715756064510725, + 0.9990433407793251, + -0.003470770549029112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999971985816958, + 0.0010574757525232301, + 0.002115637902290964, + -0.004738643299788237 + ], + [ + -0.0009599670302122834, + 0.9989606560760691, + -0.04557125434972327, + 0.007709575351327658 + ], + [ + -0.0021616294980049138, + 0.045569095299140605, + 0.9989588720370449, + -0.003999747801572084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999946355819704, + 0.0009142878352308001, + 0.003146279498611874, + -0.005164026748389006 + ], + [ + -0.0007638561655767264, + 0.9988716032270292, + -0.047485951339236124, + 0.007995794527232647 + ], + [ + -0.003186145331710578, + 0.04748329435333675, + 0.9988669753486887, + -0.0044229053892195225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999939799308777, + 0.0010432960872929493, + 0.0033054921227375976, + -0.004093639552593231 + ], + [ + -0.0008764644735492766, + 0.9987450064274088, + -0.050076512762736974, + 0.008955394849181175 + ], + [ + -0.003353588515892625, + 0.05007331605509748, + 0.9987399226947613, + -0.004112204071134329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999895095825195, + 0.000981999591957459, + 0.004471420867661875, + -0.004344098269939423 + ], + [ + -0.000745337747503072, + 0.9986140697191385, + -0.05262503123569207, + 0.009475627914071083 + ], + [ + -0.0045169019140303135, + 0.052621147333882894, + 0.9986043618940251, + -0.004245373420417309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999821782112124, + 0.0008990259017432814, + 0.005902201446939803, + -0.00468664662912488 + ], + [ + -0.0005718327593058349, + 0.9984748580704137, + -0.05520520512624919, + 0.010042283684015274 + ], + [ + -0.0059428303502500075, + 0.05520084834128159, + 0.9984575975363545, + -0.004498138092458248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999722242355347, + 0.0005513456954431926, + 0.007430155028601536, + -0.004789970815181732 + ], + [ + -0.00012348577729426324, + 0.9983477070841337, + -0.057462110888400156, + 0.010566294193267822 + ], + [ + -0.0074495598673820496, + 0.0574595967108696, + 0.9983200649989629, + -0.004873818717896938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999620318412783, + -2.5611707906643535e-05, + 0.008713385197095662, + -0.00472111813724041 + ], + [ + 0.0005401443922892214, + 0.9982546641853742, + -0.05905361162805374, + 0.01102322805672884 + ], + [ + -0.008696665056049825, + 0.05905607866465497, + 0.998216811766364, + -0.0051261973567306995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999497532844543, + -0.0003111868981514574, + 0.010018222416099228, + -0.0049355970695614815 + ], + [ + 0.000913787807803601, + 0.9981857673581189, + -0.06020225630991148, + 0.011602872982621193 + ], + [ + -0.009981312789022923, + 0.06020838706815587, + 0.9981359521925937, + -0.00561736011877656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999369382858276, + -0.0008917305597620296, + 0.011196918390276249, + -0.005288838408887386 + ], + [ + 0.0015737633220851421, + 0.9981333145274679, + -0.06105234622706209, + 0.011879313737154007 + ], + [ + -0.01112157478928566, + 0.06106611770784167, + 0.9980717781281299, + -0.005882738158106804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999252557754517, + -0.0011143845139555907, + 0.012176818689820764, + -0.005615083500742912 + ], + [ + 0.0018681212095543742, + 0.9980703813889137, + -0.06206443072235202, + 0.012192348949611187 + ], + [ + -0.012084159068763256, + 0.06208253740149244, + 0.9979978382819775, + -0.0058074770495295525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999138116836548, + -0.0015569249161347517, + 0.013034341772644748, + -0.0061649964191019535 + ], + [ + 0.0023827843833714724, + 0.9979734537729044, + -0.06358658872880658, + 0.012645784765481949 + ], + [ + -0.012908928096294403, + 0.06361216997197226, + 0.9978911834827018, + -0.005876082926988602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999021291732788, + -0.0018379576771301242, + 0.0138679409469967, + -0.006732098292559385 + ], + [ + 0.002741764299571514, + 0.9978529010509304, + -0.06543758832735266, + 0.013429133221507072 + ], + [ + -0.0137178935110569, + 0.06546920598364372, + 0.997760290113607, + -0.006000080145895481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998875260353091, + -0.0021456557970891067, + 0.01484447267319562, + -0.0073025221936404705 + ], + [ + 0.0031446802895516166, + 0.997707088045932, + -0.06760701512002432, + 0.014592857100069523 + ], + [ + -0.01466537453234196, + 0.06764609172020436, + 0.9976016044293802, + -0.005936699919402599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998697042465212, + -0.0021875825538402688, + 0.015992638890826832, + -0.00789039209485054 + ], + [ + 0.0032985173165798196, + 0.9975574717276017, + -0.06977262797686751, + 0.0157245434820652 + ], + [ + -0.01580094359815121, + 0.0698162883468697, + 0.9974346962129054, + -0.006083647720515728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998553395271301, + -0.0023525079530489464, + 0.016843866860434337, + -0.00806096289306879 + ], + [ + 0.0035494978073984385, + 0.997442092171159, + -0.07139061473655316, + 0.01621232181787491 + ], + [ + -0.016632836312055588, + 0.0714400770680816, + 0.9973061855548491, + -0.00611044280230999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998387694358828, + -0.0024941279103207273, + 0.017783408650937017, + -0.00837711337953806 + ], + [ + 0.0037892842665314683, + 0.9973121561037717, + -0.07317208496336577, + 0.01681417226791382 + ], + [ + -0.01755310967564583, + 0.07322766916127586, + 0.9971607557073787, + -0.006062750238925219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998212456703188, + -0.002835053065683634, + 0.018693356983687164, + -0.009046047925949097 + ], + [ + 0.0042317365296185025, + 0.9971666550639141, + -0.07510474565341611, + 0.017524998635053635 + ], + [ + -0.01842746697366238, + 0.07517042785940375, + 0.9970004266989301, + -0.006383625324815512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998041391372681, + -0.0032066572111550708, + 0.019529527080962478, + -0.00984921958297491 + ], + [ + 0.004697722382843494, + 0.9970363083595417, + -0.07678877019848422, + 0.017770111560821533 + ], + [ + -0.019225412979722023, + 0.07686547492877856, + 0.9968561257704547, + -0.005987047683447599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997934699058533, + -0.003236851794453408, + 0.02006357903467116, + -0.010449638590216637 + ], + [ + 0.004809228703379631, + 0.9968769180347915, + -0.07882406995421462, + 0.018377816304564476 + ], + [ + -0.019745776429772377, + 0.0789042833391272, + 0.9966866271197841, + -0.005619703326374292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9997932314872744, + -0.003135481538895615, + 0.020090666344926053, + -0.010650544427335262 + ], + [ + 0.004749181680381299, + 0.9967203068327446, + -0.08078388419490785, + 0.018933238461613655 + ], + [ + -0.01977147907018662, + 0.08086259655801736, + 0.996529136252069, + -0.005413984879851341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997924566268921, + -0.0028637638494172645, + 0.020168911237554394, + -0.01086923386901617 + ], + [ + 0.00453932723030448, + 0.9964951194097442, + -0.08352749535485468, + 0.02038380317389965 + ], + [ + -0.01985901966691017, + 0.08360171468440092, + 0.9963013370553429, + -0.00496062682941556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999792218208313, + -0.0024440433788312298, + 0.020236950677680308, + -0.011117706075310707 + ], + [ + 0.004184782970696688, + 0.9962493003756935, + -0.08642788188528155, + 0.022061560302972794 + ], + [ + -0.019949816167354584, + 0.08649461255977811, + 0.9960525600429131, + -0.004571196157485247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997924566268921, + -0.0026049731946490413, + 0.02020393575372969, + -0.011320549063384533 + ], + [ + 0.00437692366540432, + 0.9960965692745758, + -0.08816157760657134, + 0.02239304594695568 + ], + [ + -0.019895412027835846, + 0.08823171099928705, + 0.9959012403749267, + -0.004333108197897673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9997910857200623, + -0.0028391347807229816, + 0.02024182124035338, + -0.01156575232744217 + ], + [ + 0.004638054873794317, + 0.9959862318047603, + -0.0893865614703708, + 0.02211863361299038 + ], + [ + -0.019906792789697647, + 0.08946176721991683, + 0.9957913040259991, + -0.004114068578928709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997920393943789, + -0.00286671985888099, + 0.02018936280761998, + -0.011762246489524841 + ], + [ + 0.004697425290942193, + 0.9958195132687977, + -0.09122193754190569, + 0.022527512162923813 + ], + [ + -0.0198434554040432, + 0.09129780883607992, + 0.9956259114005152, + -0.0039529926143586636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997890591621399, + -0.0026181240629552767, + 0.020371929652639044, + -0.01238012034446001 + ], + [ + 0.0045133475214242935, + 0.9956044218929656, + -0.0935492752686021, + 0.02312910556793213 + ], + [ + -0.020037459209561348, + 0.09362148512070498, + 0.995406215322768, + -0.003400973277166486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997909665107729, + -0.00191168033806176, + 0.02035478576899254, + -0.012843631207942963 + ], + [ + 0.0038687323685735473, + 0.9953209372429245, + -0.09654674774852111, + 0.024290304630994797 + ], + [ + -0.02007497660815716, + 0.09660531725164259, + 0.9951202969071958, + -0.0027151142712682486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997705221176147, + -0.0014058807597494773, + 0.02137708419267956, + -0.014666296541690826 + ], + [ + 0.003516518510878086, + 0.9950792731836363, + -0.0990195201510005, + 0.02479691244661808 + ], + [ + -0.021132685244083405, + 0.09907196702487933, + 0.9948558280875237, + -0.0025263044517487288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997598528862002, + -0.0007781146149791355, + 0.021899490134317915, + -0.015527021139860153 + ], + [ + 0.0030095144174993047, + 0.9947751660999238, + -0.102045418262718, + 0.02587985433638096 + ], + [ + -0.021705664694309238, + 0.10208682216601604, + 0.9945386530964602, + -0.0020770265255123377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997586607933044, + -0.00038432516124184835, + 0.021964990988549118, + -0.0157465860247612 + ], + [ + 0.002689081011340022, + 0.9944690172156676, + -0.10499584101092603, + 0.026956917718052864 + ], + [ + -0.021803151816129684, + 0.10502956628955158, + 0.9942300407132035, + -0.0014775393065065145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9997570514678955, + -4.395286326790719e-05, + 0.022041179850380267, + -0.015972210094332695 + ], + [ + 0.002427538624033332, + 0.9941340729627428, + -0.10812732751712643, + 0.028238680213689804 + ], + [ + -0.021907133981585503, + 0.10815456485800122, + 0.9938926868064699, + -0.0010596959618851542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9997568130493164, + 0.0005286207622174928, + 0.02204534762837445, + -0.0158870629966259 + ], + [ + 0.001948375254869461, + 0.9936853023027137, + -0.11218622558130306, + 0.03042495995759964 + ], + [ + -0.02196544222533703, + 0.1122018942430621, + 0.9934426177867267, + -0.00038084283005446196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9997708797454834, + 0.0013714611050964012, + 0.02136114756035258, + -0.014831841923296452 + ], + [ + 0.0011531555792316794, + 0.9930451495655984, + -0.11772842390895626, + 0.03408017382025719 + ], + [ + -0.021374043077230453, + 0.11772607943651475, + 0.992816031633108, + 0.0005955059314146638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9997791647911072, + 0.0018632636019449303, + 0.020933055459567276, + -0.014103689230978489 + ], + [ + 0.0007272117072716355, + 0.9923981880826475, + -0.12306614574806773, + 0.03708155080676079 + ], + [ + -0.021003231406211853, + 0.12305419172565348, + 0.9921776794961322, + 0.0013708749320358038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997835159301758, + 0.0030617889710498995, + 0.020581069777465027, + -0.013408508151769638 + ], + [ + -0.0003878616844303906, + 0.9916849708681464, + -0.12868876354943032, + 0.04009505361318588 + ], + [ + -0.02080395445227623, + 0.12865291965109266, + 0.9914714699807906, + 0.002639136975631118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997866153717041, + 0.004005097473598392, + 0.02026529314136981, + -0.012800756841897964 + ], + [ + -0.0012360119726508856, + 0.9908653256523774, + -0.134849471790881, + 0.04372500628232956 + ], + [ + -0.020620262250304222, + 0.13479565104851357, + 0.9906588480017535, + 0.0035458658821880817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997868537902832, + 0.005920453174210031, + 0.019778032994184108, + -0.011709102429449558 + ], + [ + -0.003020811825990677, + 0.9896398405203265, + -0.14354049246948433, + 0.0505516417324543 + ], + [ + -0.020422954112291336, + 0.14345015457063212, + 0.989446789276076, + 0.005608446896076202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998130202293396, + 0.006594720645455687, + 0.018177171795191713, + -0.009270676411688328 + ], + [ + -0.0037986915558576584, + 0.9887142318717901, + -0.14976549244142245, + 0.05473789945244789 + ], + [ + -0.018959691748023033, + 0.1496684394826067, + 0.9885544375180354, + 0.006573264952749014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997588992118835, + 0.006171822130292446, + 0.021073661929640625, + -0.013531168922781944 + ], + [ + -0.002972166985273361, + 0.9888910178047431, + -0.1486124741231441, + 0.050439100712537766 + ], + [ + -0.021756766363978386, + 0.1485140117091324, + 0.988670928112555, + 0.005399863235652447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997965693473816, + 0.007887632762382081, + 0.018562029918082312, + -0.010248021222651005 + ], + [ + -0.00483538955450058, + 0.9872551443000215, + -0.15907206321884967, + 0.05992954224348068 + ], + [ + -0.019580163061618805, + 0.15894995280112717, + 0.9870924678621902, + 0.008591740392148495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998390674591064, + 0.014440522767407994, + 0.010644491016318921, + -0.0002956773096229881 + ], + [ + -0.012277067638933659, + 0.9834180865022982, + -0.18093670060285635, + 0.0814543142914772 + ], + [ + -0.013080805540084839, + 0.18077690723342896, + 0.983437135614841, + 0.017912572249770164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997608065605166, + 0.00890123680999843, + 0.019978168140987178, + -0.012738682329654694 + ], + [ + -0.005505872424691916, + 0.9864480080053172, + -0.16398159744058588, + 0.059689223766326904 + ], + [ + -0.021167062222957615, + 0.1638323727972299, + 0.9862610502850635, + 0.008452213369309902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997228980064392, + 0.007969245810360166, + 0.022150160199143964, + -0.015865786001086235 + ], + [ + -0.004311687313020229, + 0.9870245721797737, + -0.16051122934471654, + 0.051120955497026443 + ], + [ + -0.023141905665397644, + 0.16037124409445563, + 0.9867854461829082, + 0.007084906566888094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996741414070129, + 0.00818763231063317, + 0.024177831061695788, + -0.019175933673977852 + ], + [ + -0.004120660945773125, + 0.9865023000636065, + -0.1636954011110036, + 0.050687722861766815 + ], + [ + -0.025191763415932655, + 0.16354243820717823, + 0.986214610370837, + 0.006609875708818436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996575117111206, + 0.008693180359932174, + 0.024683936310157455, + -0.02072504535317421 + ], + [ + -0.0044679357670247555, + 0.9860605935213163, + -0.16632666791546832, + 0.04919610172510147 + ], + [ + -0.025785762816667557, + 0.16615941314140928, + 0.9857617189338823, + 0.006899235304445028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996708631515505, + 0.00871978393799386, + 0.024127456995884748, + -0.020879413932561874 + ], + [ + -0.004500090144574643, + 0.9854842573751974, + -0.16970711858944598, + 0.048123255372047424 + ], + [ + -0.025257037952542312, + 0.16954268809191395, + 0.985199144634906, + 0.0072764134965837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996708035469057, + 0.009189895657383929, + 0.023954199828590716, + -0.021332813426852226 + ], + [ + -0.004879595711827279, + 0.9847088356320883, + -0.17413992354721358, + 0.04729153588414192 + ], + [ + -0.025188241153955467, + 0.1739657103011543, + 0.9844295241461336, + 0.007827586494386196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996622204780579, + 0.009430803327337188, + 0.024218575990204497, + -0.02227165922522545 + ], + [ + -0.00497843511402607, + 0.9840707176214917, + -0.17770758294929662, + 0.04462145268917084 + ], + [ + -0.025508718565106392, + 0.17752698005762374, + 0.9837852892591881, + 0.007484283298254013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996338486671448, + 0.010472038150688387, + 0.024951185927343706, + -0.023741137236356735 + ], + [ + -0.005721102003008127, + 0.9830273651483459, + -0.18336976328240656, + 0.04343773052096367 + ], + [ + -0.026447951793670654, + 0.18315987249966437, + 0.9827273103238865, + 0.007522935979068279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996291995048523, + 0.010938170555165687, + 0.024935489920021713, + -0.023985005915164948 + ], + [ + -0.006032766308635473, + 0.9819763951141856, + -0.1889073195760773, + 0.041074760258197784 + ], + [ + -0.026552362367510796, + 0.18868684532783495, + 0.9816782531921212, + 0.008428016677498817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995959997177124, + 0.011877705579726165, + 0.02582126810156971, + -0.025566047057509422 + ], + [ + -0.006625215522944927, + 0.9808391206704675, + -0.19470690189750936, + 0.03822305053472519 + ], + [ + -0.027639180421829224, + 0.19445715873796895, + 0.9805215107055506, + 0.00807778537273407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995869398117065, + 0.012140920124657785, + 0.026048584608618572, + -0.026061316952109337 + ], + [ + -0.006644922774285078, + 0.9794612822961196, + -0.20152279734827108, + 0.03578938543796539 + ], + [ + -0.02796025201678276, + 0.2012664694073424, + 0.9791374083252221, + 0.008446995168924332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995447993278506, + 0.01332656841030967, + 0.02706745133845274, + -0.02774033322930336 + ], + [ + -0.007394106592983009, + 0.9780014993614825, + -0.20846675566582068, + 0.03294655308127403 + ], + [ + -0.029250156134366996, + 0.20817171624541564, + 0.9776548305425968, + 0.008520109578967094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995270967483523, + 0.013723161378556838, + 0.027518495487529444, + -0.028733350336551666 + ], + [ + -0.00745708402246237, + 0.976355735665643, + -0.21604126053136766, + 0.030587051063776016 + ], + [ + -0.029832608997821815, + 0.21573388136095373, + 0.9759963541783667, + 0.008431117981672287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994990229606628, + 0.014801478281125097, + 0.027974964771985657, + -0.02911990135908127 + ], + [ + -0.00817660242319107, + 0.9746576575741731, + -0.22355228731068066, + 0.027810262516140938 + ], + [ + -0.030574915930628777, + 0.2232115579083183, + 0.9742904221973041, + 0.009214079938828945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994493722915649, + 0.016069140473007885, + 0.029030068632205686, + -0.030458373948931694 + ], + [ + -0.008924922905862331, + 0.972855537018137, + -0.23124108602703125, + 0.024722430855035782 + ], + [ + -0.03195790946483612, + 0.2308546638841861, + 0.9724632933373668, + 0.009441559202969074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994158744812012, + 0.016792633528230252, + 0.029764630172191484, + -0.03126680478453636 + ], + [ + -0.009216981939971447, + 0.9711216492293016, + -0.2384068692909476, + 0.020964160561561584 + ], + [ + -0.03290855139493942, + 0.23799325428581342, + 0.9707091397595475, + 0.009663203731179237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9993717074394228, + 0.01786551177687354, + 0.030610819069346765, + -0.03213167563080788 + ], + [ + -0.009735409170389177, + 0.9688147865591378, + -0.24759477705624483, + 0.019744904711842537 + ], + [ + -0.03407961875200272, + 0.2471411998155034, + 0.9683799659737456, + 0.010290536098182201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993446469306946, + 0.0183507328097739, + 0.03120203724653684, + -0.032491352409124374 + ], + [ + -0.009789164178073406, + 0.9668629414060785, + -0.2551081900485106, + 0.01686481200158596 + ], + [ + -0.03484951704740524, + 0.25463556263871606, + 0.9664089533393638, + 0.010801422409713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999293327331543, + 0.019136265455145005, + 0.0323519994952808, + -0.03315170854330063 + ], + [ + -0.009993080981075764, + 0.9649831297121146, + -0.2621214921849163, + 0.014409664086997509 + ], + [ + -0.03623516112565994, + 0.26161296149463176, + 0.9644924501626518, + 0.010759660042822361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992321729660034, + 0.01948303265726592, + 0.03399172333007233, + -0.033955153077840805 + ], + [ + -0.00962134450674057, + 0.9630480095310906, + -0.26915785227982897, + 0.01268317922949791 + ], + [ + -0.037979673594236374, + 0.2686241327439206, + 0.9624960262622871, + 0.011049460619688034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9991775155067446, + 0.01982386218712154, + 0.03537412053235569, + -0.03404359146952629 + ], + [ + -0.009332213550806047, + 0.9613555577127498, + -0.2751514990605217, + 0.010148460045456886 + ], + [ + -0.0394616723060608, + 0.27459507056339577, + 0.9607498919778317, + 0.01116515975445509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991117715835571, + 0.020078133831077632, + 0.037047141146451905, + -0.034159377217292786 + ], + [ + -0.008849537000060081, + 0.959555050968429, + -0.28138197728539405, + 0.007520591374486685 + ], + [ + -0.04119839891791344, + 0.28080420134698264, + 0.9588804608733275, + 0.011440305039286613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9990463852882385, + 0.020539324823299548, + 0.0385282412572542, + -0.03392140939831734 + ], + [ + -0.008583861403167248, + 0.9576155744755047, + -0.28792133026696415, + 0.0046462407335639 + ], + [ + -0.042808953672647476, + 0.2873160484496073, + 0.9568787187861282, + 0.011970431543886662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989333748817444, + 0.021451209872460745, + 0.04088946348828502, + -0.03480193018913269 + ], + [ + -0.008463001810014248, + 0.9555935025757754, + -0.2945664308412438, + 0.0012178611941635609 + ], + [ + -0.045392513275146484, + 0.2939061906721959, + 0.9547558028285038, + 0.012267041020095348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9988222122192383, + 0.022391335431037388, + 0.04304429367571984, + -0.03522350639104843 + ], + [ + -0.008352922275662422, + 0.9532551760403881, + -0.30205099673353325, + -0.0010112341260537505 + ], + [ + -0.04779551923274994, + 0.30133568961688, + 0.9523194676835246, + 0.01303884293884039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987348914146423, + 0.023170619339727572, + 0.04462888423085005, + -0.035370904952287674 + ], + [ + -0.008270947262644768, + 0.9511191507972878, + -0.30871345478237694, + -0.004130963236093521 + ], + [ + -0.049600470811128616, + 0.30795378895592, + 0.9501075267685698, + 0.013195759616792202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9986062049865725, + 0.02460619561882617, + 0.04669213198405117, + -0.03636749088764191 + ], + [ + -0.008579387329518797, + 0.9485852563344966, + -0.31640542537151717, + -0.0056544397957623005 + ], + [ + -0.05207699909806253, + 0.3155638505897174, + 0.9474742448001363, + 0.013562409207224846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9985387921333313, + 0.02529439036060139, + 0.047754493932455205, + -0.035885415971279144 + ], + [ + -0.008519092574715614, + 0.9463226795077486, + -0.3231111696396063, + -0.008580725640058517 + ], + [ + -0.05336406081914902, + 0.32223221248953093, + 0.9451553560242665, + 0.01328994520008564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9984330534934998, + 0.026574929041872874, + 0.049246181853537, + -0.03575124591588974 + ], + [ + -0.00883301068097353, + 0.9438516882196268, + -0.33025146240932773, + -0.011086724698543549 + ], + [ + -0.05525750294327736, + 0.32929896868261, + 0.9426074305465763, + 0.013726753182709217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983406066894531, + 0.0277356027873331, + 0.05046549951594787, + -0.035080436617136 + ], + [ + -0.009101630188524723, + 0.9413504808831842, + -0.3373076257175666, + -0.013367056846618652 + ], + [ + -0.05686115473508835, + 0.3362885971050676, + 0.9400408777926197, + 0.013594922609627247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981986880302431, + 0.02886998350100757, + 0.05259147688692247, + -0.035376761108636856 + ], + [ + -0.009053947404026987, + 0.9390554465015034, + -0.34364652799570145, + -0.01695144921541214 + ], + [ + -0.059307377785444274, + 0.3425513501587176, + 0.937625293907941, + 0.01360415481030941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9980847239494324, + 0.029616838935148642, + 0.05431159367329478, + -0.03522169589996338 + ], + [ + -0.008665273897349834, + 0.9362249993519561, + -0.3512942037586102, + -0.01862589828670025 + ], + [ + -0.06125209853053093, + 0.35015076765357545, + 0.9346885519054284, + 0.013883354142308235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.99798983335495, + 0.030240378722077067, + 0.055694444245519614, + -0.03473407402634621 + ], + [ + -0.0082728061825037, + 0.9334556718254587, + -0.3585972877825398, + -0.019839487969875336 + ], + [ + -0.06283241510391235, + 0.35741570482010937, + 0.9318294646723365, + 0.013615529984235764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9979299902915955, + 0.029876568952844136, + 0.05694836716032231, + -0.03395984694361687 + ], + [ + -0.00716259004548192, + 0.9316603387726087, + -0.36325976762280987, + -0.024230152368545532 + ], + [ + -0.06390949338674545, + 0.3620999330038952, + 0.9299458011302557, + 0.013268069364130497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977669715881348, + 0.031190590824337932, + 0.05906113553474679, + -0.03474706783890724 + ], + [ + -0.007085306569933891, + 0.9287030153567672, + -0.3707566947582889, + -0.02325519546866417 + ], + [ + -0.06641437858343124, + 0.36951032998453487, + 0.9268501923135731, + 0.013215906918048859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977080821990969, + 0.03138233829804044, + 0.059948065259558245, + -0.03406456112861633 + ], + [ + -0.006593511439859869, + 0.9268200215522038, + -0.3754480265165725, + -0.0255708210170269 + ], + [ + -0.06734350323677064, + 0.3741922582067367, + 0.9249026963252133, + 0.013306786306202412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9977115988731386, + 0.031292199499410304, + 0.059936193663934545, + -0.03267066925764084 + ], + [ + -0.006218820810317995, + 0.9251693768179913, + -0.3795035302045217, + -0.028019342571496964 + ], + [ + -0.06732662767171861, + 0.37826234950548876, + 0.9232468358932063, + 0.012878929264843464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977753758430483, + 0.03081854231043814, + 0.059114195302713494, + -0.030844824388623238 + ], + [ + -0.005891245789825918, + 0.9240227480844087, + -0.38229216254574355, + -0.03259626403450966 + ], + [ + -0.06640455126762392, + 0.3810934649052855, + 0.9221487207359671, + 0.012196147814393044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9977677464485168, + 0.03163520666029207, + 0.05881108451338978, + -0.030631572008132935 + ], + [ + -0.006352042779326439, + 0.9216396204443699, + -0.3879948827593195, + -0.03365588188171387 + ], + [ + -0.06647691875696182, + 0.3867551935137326, + 0.9197832678740493, + 0.012422516942024231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9977632761001589, + 0.03278711263030662, + 0.0582531902181823, + -0.030469972640275955 + ], + [ + -0.007149352692067625, + 0.9187921823033489, + -0.3946768232467954, + -0.03414693847298622 + ], + [ + -0.06646288931369783, + 0.3933775558979882, + 0.9169715508202922, + 0.012121842242777348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997771680355072, + 0.033801507981016235, + 0.05752457528924093, + -0.030076002702116966 + ], + [ + -0.00790814682841301, + 0.9160088936923663, + -0.40108001817648165, + -0.03498550131917 + ], + [ + -0.06625013053417206, + 0.3997313635967457, + 0.9142350830703285, + 0.011648275889456272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.997762143611908, + 0.03517256444986059, + 0.05686476907734872, + -0.029745161533355713 + ], + [ + -0.008958176709711552, + 0.9131139004058886, + -0.40760609636204825, + -0.03553592786192894 + ], + [ + -0.06626056134700775, + 0.4061845338683062, + 0.9113855980233152, + 0.010651538148522377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9977687597274782, + 0.03604089924347088, + 0.0562008109909024, + -0.029375266283750534 + ], + [ + -0.009600468911230566, + 0.9104817795458049, + -0.41343771078852976, + -0.036240238696336746 + ], + [ + -0.06607048213481904, + 0.41197566013141124, + 0.9087963039446934, + 0.009419831447303295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9977948665618896, + 0.036323722669173594, + 0.05555208750234164, + -0.029044026508927345 + ], + [ + -0.00972452387213707, + 0.9079332219212947, + -0.4190019862587258, + -0.03653376176953316 + ], + [ + -0.06565729528665543, + 0.4175377892553566, + 0.9062843287677206, + 0.008653270080685616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9978577494621279, + 0.03637375191304732, + 0.054376857815849916, + -0.028586696833372116 + ], + [ + -0.0099688358604908, + 0.9060195298714864, + -0.42311845322819547, + -0.03733515739440918 + ], + [ + -0.06465689837932588, + 0.4216699808676194, + 0.9044412372665966, + 0.007181583438068628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9980199933052063, + 0.03559685498498045, + 0.051854837616388316, + -0.025846034288406372 + ], + [ + -0.010183447040617466, + 0.9050100119555747, + -0.42526839635807845, + -0.03949844837188721 + ], + [ + -0.062067363411188126, + 0.4238983288799609, + 0.903580545256307, + 0.005461425520479679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980834722518923, + 0.035436182194866994, + 0.050731464284099734, + -0.02495458535850048 + ], + [ + -0.010300735011696817, + 0.9035071568128861, + -0.42844917020411916, + -0.03949110582470894 + ], + [ + -0.06101884320378305, + 0.42710544591740995, + 0.9021405674595034, + 0.00395933398976922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.998256266117096, + 0.03468113681118695, + 0.047766864010071484, + -0.020853128284215927 + ], + [ + -0.010742219164967537, + 0.9024262740126897, + -0.43071038810760687, + -0.040077708661556244 + ], + [ + -0.058043595403432846, + 0.42944622298934076, + 0.901225196429289, + 0.0032591968774795532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983777403831482, + 0.03387054449961056, + 0.04576760220201067, + -0.01830657385289669 + ], + [ + -0.01075446791946888, + 0.9015299128913083, + -0.4325830899749177, + -0.040537599474191666 + ], + [ + -0.05591268837451935, + 0.43138910397053404, + 0.9004317089065942, + 0.002031467854976654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9985487461090088, + 0.0328816664510908, + 0.042651509133890854, + -0.014168783091008663 + ], + [ + -0.011069864965975285, + 0.900377176337557, + -0.43496941446213083, + -0.039744362235069275 + ], + [ + -0.05270496383309364, + 0.4338660258850782, + 0.8994345085326623, + 0.0016315141692757607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9987238049507141, + 0.031347670603762326, + 0.039599144263250466, + -0.010048428550362587 + ], + [ + -0.010880136862397194, + 0.8991928393358567, + -0.43741726885049326, + -0.03873104229569435 + ], + [ + -0.049319278448820114, + 0.436428173663652, + 0.8983863758294262, + 0.0014080482069402933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9989515542984009, + 0.02933652673440131, + 0.03514536863459751, + -0.0036785821430385113 + ], + [ + -0.010894689708948135, + 0.8979814395065753, + -0.4398983857201829, + -0.03805169463157654 + ], + [ + -0.04446497932076454, + 0.4390542704120708, + 0.8973595591136071, + 0.0018324683187529445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9990229010581972, + 0.027398424393872065, + 0.0346781766954978, + -0.003477150108665228 + ], + [ + -0.00932738743722439, + 0.8976871545367965, + -0.4405346665819538, + -0.039508286863565445 + ], + [ + -0.04320011287927628, + 0.43978078091790235, + 0.8970655782219833, + -0.00015693888417445123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992004036903381, + 0.025865942222019607, + 0.030487904050030417, + 0.0022837824653834105 + ], + [ + -0.009684556163847446, + 0.8964113805076855, + -0.4431171982451666, + -0.038120586425065994 + ], + [ + -0.03879134729504585, + 0.4424676404025284, + 0.8959451361764063, + 6.261107046157122e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992557764053345, + 0.02476631576025093, + 0.029571741589960215, + 0.0032973703928291798 + ], + [ + -0.009049003012478352, + 0.8957674622877654, + -0.4444307929059905, + -0.03842858225107193 + ], + [ + -0.03749631345272064, + 0.4438324750286926, + 0.8953249794261477, + -0.0012405960587784648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.999126732349396, + 0.024875456065572767, + 0.03356974066169467, + -0.0030830998439341784 + ], + [ + -0.007317073643207552, + 0.8952108811820995, + -0.4455827203550432, + -0.0388542115688324 + ], + [ + -0.04113606736063958, + 0.4449479650028287, + 0.8946111717072532, + -0.004204889293760061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9994056224822998, + 0.02277920498284494, + 0.025873741673574317, + 0.0078122313134372234 + ], + [ + -0.008797070011496544, + 0.8942439859024832, + -0.4474933211340433, + -0.03902797773480415 + ], + [ + -0.03333098068833351, + 0.4469997590257315, + 0.8939129198394765, + -0.004126246552914381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9994227886199953, + 0.022333331371745372, + 0.025599405126307966, + 0.008189618587493896 + ], + [ + -0.008438151329755785, + 0.8931199454948521, + -0.44973945875006827, + -0.03897227719426155 + ], + [ + -0.032907519489526756, + 0.44926382267558795, + 0.8927928468235247, + -0.004280343651771545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9994539618492129, + 0.021438395252105315, + 0.025143689553172616, + 0.008157717995345592 + ], + [ + -0.007757614832371475, + 0.8919225055481984, + -0.45212179957644616, + -0.03881730139255524 + ], + [ + -0.03211898729205132, + 0.4516798800652358, + 0.8916017429357557, + -0.00610582809895277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9994903802871704, + 0.020530484316789468, + 0.024443023438716353, + 0.008785749785602093 + ], + [ + -0.007185886148363352, + 0.8907866146600402, + -0.45436507583307845, + -0.039072874933481216 + ], + [ + -0.031101852655410767, + 0.45395786751632855, + 0.890480149359951, + -0.007230418734252453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.999534606933594, + 0.01958179425488384, + 0.023390992742718577, + 0.009960376657545567 + ], + [ + -0.0067417924292385596, + 0.8896174883217595, + -0.4566566202279483, + -0.03933430463075638 + ], + [ + -0.02975119091570378, + 0.4562863856288189, + 0.8893354815871269, + -0.008351432159543037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9995802640914917, + 0.01921781510144308, + 0.02167944605760881, + 0.012422828003764153 + ], + [ + -0.007122847717255354, + 0.8883663266847095, + -0.4590800781818847, + -0.03926285356283188 + ], + [ + -0.028081808239221573, + 0.4587329784499939, + 0.888130319470728, + -0.008852201513946056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9996151924133301, + 0.018596206365025524, + 0.020581427946041002, + 0.01424079667776823 + ], + [ + -0.007002733647823334, + 0.8871373073751387, + -0.4614523837315588, + -0.03923498094081879 + ], + [ + -0.026839815080165863, + 0.46113073214899475, + 0.886926198283713, + -0.009985119104385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9996505975723267, + 0.01796848968879559, + 0.019385113881362374, + 0.01609765738248825 + ], + [ + -0.006950950715690851, + 0.8862910555961512, + -0.4630764637351801, + -0.039727214723825455 + ], + [ + -0.025501638650894165, + 0.46277993817090135, + 0.8861062956256784, + -0.011188683100044727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9996794462203982, + 0.01734093188651437, + 0.018446212486960763, + 0.017798669636249542 + ], + [ + -0.006781786680221559, + 0.8853883905056629, + -0.4648025733210643, + -0.039527084678411484 + ], + [ + -0.024392170831561096, + 0.46452851228850045, + 0.8852221651899544, + -0.01187854167073965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9997087717056274, + 0.01687398176129594, + 0.017252302776588666, + 0.019795801490545273 + ], + [ + -0.006886289454996586, + 0.8846464520969032, + -0.4662116139560478, + -0.03965411335229874 + ], + [ + -0.023129034787416458, + 0.4659570414285614, + 0.8845050064715488, + -0.012714854441583157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997326135635376, + 0.016339125878989825, + 0.016362180996927187, + 0.021146181970834732 + ], + [ + -0.006793595850467682, + 0.8839215064476057, + -0.4675859301985918, + -0.03992648795247078 + ], + [ + -0.022102829068899155, + 0.4673497503041924, + 0.8837961507445253, + -0.013332733884453773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999757707118988, + 0.015895422688235905, + 0.015228842352286524, + 0.022052040323615074 + ], + [ + -0.006899069529026747, + 0.8832013984022201, + -0.4689432016923913, + -0.04038437455892563 + ], + [ + -0.020904185250401497, + 0.4687245023789168, + 0.8830970468797391, + -0.013723262585699558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9997934103012087, + 0.015061843013644367, + 0.013650363298185475, + 0.023390378803014755 + ], + [ + -0.0068777883425354975, + 0.88258695908619, + -0.47009883378816286, + -0.041218873113393784 + ], + [ + -0.019128188490867618, + 0.4699078221754505, + 0.882508211995237, + -0.014274068176746368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998275637626648, + 0.014099619485144405, + 0.012086120183820057, + 0.02457660436630249 + ], + [ + -0.006735567003488541, + 0.8818239195875188, + -0.4715306589127547, + -0.042012229561805725 + ], + [ + -0.017306232824921608, + 0.47136795256070435, + 0.8817668344403272, + -0.014613122679293156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998576045036316, + 0.013202605038171646, + 0.010512842594248069, + 0.02558647282421589 + ], + [ + -0.006657890044152737, + 0.8809618794120607, + -0.47314036935875475, + -0.04293472692370415 + ], + [ + -0.015508098527789116, + 0.47300297444074657, + 0.880924347197383, + -0.014837506227195263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9998825788497925, + 0.012218081460283903, + 0.009251050030140389, + 0.026170870289206505 + ], + [ + -0.006358100101351738, + 0.879967738780592, + -0.47499087278247654, + -0.0438222661614418 + ], + [ + -0.013944102451205254, + 0.47487629961665223, + 0.8799421032341976, + -0.014653231017291546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9999071359634402, + 0.011229858139083839, + 0.007723798807539231, + 0.02717563323676586 + ], + [ + -0.006183892488479616, + 0.8787973070281127, + -0.47715520285089047, + -0.04406819865107536 + ], + [ + -0.012146038934588436, + 0.47706312358082287, + 0.8787850904718442, + -0.014408111572265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9999316334724426, + 0.01029749823880744, + 0.005542117093295837, + 0.029363339766860008 + ], + [ + -0.006386688444763422, + 0.8778829807055859, + -0.478832652454888, + -0.04449159651994705 + ], + [ + -0.00979610811918974, + 0.4787644833485621, + 0.8778887086987015, + -0.014103386551141739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9999470710754395, + 0.00969338772854209, + 0.003454617923810795, + 0.03159506991505623 + ], + [ + -0.006839944049715996, + 0.8768889858484041, + -0.48064434461400807, + -0.044138289988040924 + ], + [ + -0.007688388228416443, + 0.4805952650027508, + 0.876908807306162, + -0.013832001015543938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9999558329582214, + 0.009050738110220002, + 0.0025325717878611083, + 0.03238845616579056 + ], + [ + -0.006710602901875973, + 0.8762364836326004, + -0.4818346072989888, + -0.04426499456167221 + ], + [ + -0.0065800901502370834, + 0.48179630499033227, + 0.8762585055438928, + -0.013587655499577522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.999964714050293, + 0.008301652792892085, + 0.0012847973671800844, + 0.03374508023262024 + ], + [ + -0.006649356335401535, + 0.8756696109049082, + -0.4828649479353278, + -0.04411334916949272 + ], + [ + -0.005133634898811579, + 0.4828393927956405, + 0.8756938982067833, + -0.012893551029264927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9999708533287048, + 0.007630102160825953, + 0.00020821896985630402, + 0.0348312109708786 + ], + [ + -0.006577573716640472, + 0.8752293857249683, + -0.4836633655988875, + -0.04404694586992264 + ], + [ + -0.0038726404309272766, + 0.4836478863999894, + 0.8752540679514952, + -0.012001294642686844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9999740123748779, + 0.007110839708629701, + -0.0011950455969322077, + 0.03628191724419594 + ], + [ + -0.006799705326557159, + 0.8748084709192472, + -0.4844212101650602, + -0.043756015598773956 + ], + [ + -0.002399205695837736, + 0.48441676745830625, + 0.8748340554343479, + -0.011247974820435047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9999731183052063, + 0.006810755908361266, + -0.002714306137168832, + 0.037614237517118454 + ], + [ + -0.007272626273334026, + 0.8745339991486601, + -0.4849096511560335, + -0.04354531317949295 + ], + [ + -0.0009288478759117424, + 0.4849163514166936, + 0.8745600685062972, + -0.010554447770118713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9999697208404541, + 0.006462431617909007, + -0.004334007715837056, + 0.03891344740986824 + ], + [ + -0.007753776852041483, + 0.8742703967446981, + -0.4853773826485394, + -0.0432196706533432 + ], + [ + 0.0006523765623569489, + 0.48539627753951303, + 0.8742940270867426, + -0.010112387128174305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.999963641166687, + 0.006317534822874878, + -0.005727704525904582, + 0.0396217405796051 + ], + [ + -0.008303535170853138, + 0.8742819449104321, + -0.48534746884675434, + -0.043424878269433975 + ], + [ + 0.0019414287526160479, + 0.4853773561371015, + 0.8743026178809449, + -0.009692234918475151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9999566078186035, + 0.0063233945502843185, + -0.0068369138053097165, + 0.04007722809910774 + ], + [ + -0.008846807293593884, + 0.8743184849669629, + -0.4852719698479837, + -0.04351823776960373 + ], + [ + 0.0029090745374560356, + 0.4853113943160842, + 0.8743365308702964, + -0.009074483998119831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9999442696571352, + 0.006268078580703285, + -0.008494259610156669, + 0.041406918317079544 + ], + [ + -0.009602380916476251, + 0.874357799820106, + -0.48518679486397814, + -0.04348215088248253 + ], + [ + 0.004385833628475667, + 0.4852413253957052, + 0.8743692841907358, + -0.008720694109797478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999930202960968, + 0.006611749952211483, + -0.009789249426029708, + 0.04215744882822037 + ], + [ + -0.010531414300203323, + 0.8743380589895129, + -0.48520314614466564, + -0.043374430388212204 + ], + [ + 0.005351071245968342, + 0.48527239355285207, + 0.8743466718493613, + -0.007909486070275307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9999144077301028, + 0.006923713211423811, + -0.011101430102589316, + 0.04317447170615196 + ], + [ + -0.011442153714597227, + 0.8742395304552282, + -0.48536002508836, + -0.043367017060518265 + ], + [ + 0.0063448157161474245, + 0.48544552006177966, + 0.8742438674805689, + -0.0071802944876253605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9999030828475952, + 0.007106444725746414, + -0.011972439347500724, + 0.043502938002347946 + ], + [ + -0.012028098106384277, + 0.8740025008949315, + -0.485772545519819, + -0.04321218654513359 + ], + [ + 0.007011826150119305, + 0.48586943408827393, + 0.8740032460631789, + -0.006647646892815828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998928308486938, + 0.007193088874351634, + -0.01275241639179115, + 0.04355468973517418 + ], + [ + -0.012486658990383148, + 0.8737535625973059, + -0.48620862704208156, + -0.043271634727716446 + ], + [ + 0.007645128294825554, + 0.48631571597551015, + 0.8737497187663762, + -0.006354691460728645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9998835325241089, + 0.007164663857627224, + -0.013475606948208454, + 0.043449390679597855 + ], + [ + -0.01281923707574606, + 0.8734157270444597, + -0.4868065877305696, + -0.04333419352769852 + ], + [ + 0.008282002061605453, + 0.4869226368703373, + 0.8734058235037621, + -0.005925177130848169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998643398284912, + 0.006902946979571549, + -0.014954238468910044, + 0.04435497149825096 + ], + [ + -0.013320253230631351, + 0.8729290555731963, + -0.48766534189202926, + -0.0431438647210598 + ], + [ + 0.00968766026198864, + 0.48779835860853527, + 0.8729025917516517, + -0.005606982856988907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9998579025268555, + 0.007242439299007291, + -0.015224202742060051, + 0.043658480048179626 + ], + [ + -0.013758896850049496, + 0.8723945426122518, + -0.4886086579479068, + -0.042713988572359085 + ], + [ + 0.009742794558405876, + 0.4887486845888976, + 0.8723702468202087, + -0.005343505181372166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9998447299003601, + 0.007237167300560396, + -0.016068132317825303, + 0.04376025125384331 + ], + [ + -0.01417627651244402, + 0.8719476325880287, + -0.4893938369913335, + -0.0423591285943985 + ], + [ + 0.010468745604157448, + 0.48954560984301065, + 0.8719148544589703, + -0.005323128774762154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.999836325645447, + 0.007490965470279855, + -0.016468920676628394, + 0.04342944920063019 + ], + [ + -0.014599075540900234, + 0.8717015798710532, + -0.48981953317870575, + -0.042486004531383514 + ], + [ + 0.010686762630939485, + 0.4899797994066589, + 0.8716682717009806, + -0.0048584057949483395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9998288750648499, + 0.00799453890093188, + -0.01668193852270998, + 0.04290878027677536 + ], + [ + -0.015150830149650574, + 0.8713081388121017, + -0.49050244393115755, + -0.04225385934114456 + ], + [ + 0.010613768361508846, + 0.49067123265697543, + 0.8712801336381812, + -0.004670918453484774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998233914375305, + 0.008357409431710518, + -0.016833108559107825, + 0.04237155243754387 + ], + [ + -0.015548942610621452, + 0.8709434592872457, + -0.49113713247086055, + -0.04238681122660637 + ], + [ + 0.010556051507592201, + 0.49131212796954693, + 0.870919609064916, + -0.0043692742474377155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9998191595077515, + 0.008581843568029861, + -0.01697206978887235, + 0.04183276742696762 + ], + [ + -0.015820525586605072, + 0.8705760626545576, + -0.4917795132903901, + -0.04251337796449661 + ], + [ + 0.010555103421211243, + 0.49195905027643, + 0.8705543469167204, + -0.0041605569422245026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9998111724853516, + 0.008502935821718195, + -0.01747271201156455, + 0.041630808264017105 + ], + [ + -0.016006914898753166, + 0.8701820680101923, + -0.4924702248761499, + -0.04233820363879204 + ], + [ + 0.011016998440027237, + 0.49265692704686415, + 0.8701538655291224, + -0.00395307457074523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9998049736022949, + 0.008191361138655252, + -0.017968272233766482, + 0.04139115288853645 + ], + [ + -0.015984533354640007, + 0.8699871803471868, + -0.4928151819114279, + -0.04264175519347191 + ], + [ + 0.011595341376960278, + 0.49300628586340345, + 0.8699485153484772, + -0.0036976919509470463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9997923374176025, + 0.008098996736544567, + -0.018700599961689327, + 0.04027066379785538 + ], + [ + -0.016277389600872993, + 0.8694956878196705, + -0.49367228718202455, + -0.04248373955488205 + ], + [ + 0.012261840514838696, + 0.4938741614090653, + 0.8694469622353901, + -0.003177390666678548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997819066047668, + 0.008322979719445664, + -0.01915286056537551, + 0.03997959569096565 + ], + [ + -0.016713786870241165, + 0.868770308572622, + -0.4949330602289778, + -0.04160626605153084 + ], + [ + 0.012520119547843933, + 0.4951452668787279, + 0.8687199720731604, + -0.003533156355842948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997901916503906, + 0.007739239382785206, + -0.018966268633448902, + 0.03988258168101311 + ], + [ + -0.016128212213516235, + 0.8682292009914084, + -0.4959011782235804, + -0.04149898141622543 + ], + [ + 0.012629170902073383, + 0.49610303041692944, + 0.8681717920369274, + -0.003149065189063549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9997926354408264, + 0.007781527922796594, + -0.018819534330252213, + 0.03939353674650192 + ], + [ + -0.016109328716993332, + 0.867544469979886, + -0.49709873167971, + -0.041707925498485565 + ], + [ + 0.012458594515919685, + 0.4972987844291798, + 0.867489874269843, + -0.003162121633067727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998009800910952, + 0.0077553938124505055, + -0.01838009355833673, + 0.03862437233328819 + ], + [ + -0.01588142476975918, + 0.866998408327579, + -0.4980578381483123, + -0.04250091686844826 + ], + [ + 0.012072877027094368, + 0.49825060701591156, + 0.8669490391298477, + -0.0033562583848834038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997878670692446, + 0.008207429462303979, + -0.018889801635686022, + 0.03847857937216759 + ], + [ + -0.01655310206115246, + 0.8659428671698471, + -0.49986897393822444, + -0.04213077202439308 + ], + [ + 0.01225484907627106, + 0.5000756483087576, + 0.8658950290416427, + -0.003097075968980789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997835755348208, + 0.008585194300293662, + -0.01894903424962917, + 0.03783102706074715 + ], + [ + -0.016930688172578815, + 0.8650765644866979, + -0.5013540618979374, + -0.04196108877658844 + ], + [ + 0.012088143266737465, + 0.5015664099591445, + 0.8650347137040456, + -0.0029931210447102785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9997785091400146, + 0.008936622549695955, + -0.019054369967265814, + 0.037223026156425476 + ], + [ + -0.017300555482506752, + 0.8645277934892341, + -0.5022872004610811, + -0.04206741228699684 + ], + [ + 0.011984280310571194, + 0.5025056085091696, + 0.8644909045497945, + -0.002935438184067607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9997833967208862, + 0.009152610038827627, + -0.018690981096444022, + 0.036100123077631 + ], + [ + -0.017315302044153214, + 0.8640649728147789, + -0.5030824024719039, + -0.04192621633410454 + ], + [ + 0.011545705609023571, + 0.503297078313253, + 0.8640363384481095, + -0.003032860578969121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9997907280921936, + 0.009672312130544094, + -0.018027802341720328, + 0.03447110205888748 + ], + [ + -0.01744253747165203, + 0.8635007940319803, + -0.504045802331626, + -0.04150598123669624 + ], + [ + 0.010691733099520206, + 0.5042547660943435, + 0.8634887715038561, + -0.0030977746937423944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9998016357421877, + 0.009810154377001008, + -0.017331958990032398, + 0.03323252499103546 + ], + [ + -0.017217701300978664, + 0.8631495204287551, + -0.5046547271986573, + -0.041792698204517365 + ], + [ + 0.010009331628680231, + 0.5048530749526727, + 0.8631472438057086, + -0.0031217478681355715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9998130202293396, + 0.010189210052818368, + -0.016435091166135316, + 0.03139755502343178 + ], + [ + -0.017103176563978195, + 0.8625312653134861, + -0.5057145934319693, + -0.04148568958044052 + ], + [ + 0.009022948332130909, + 0.5059011442329153, + 0.8625442850289485, + -0.0033993725664913654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9998245835304262, + 0.010232876680213086, + -0.015686536934579966, + 0.029860859736800194 + ], + [ + -0.016772512346506122, + 0.8619057680868099, + -0.5067909990369739, + -0.04121454060077667 + ], + [ + 0.008334387093782427, + 0.5069652350462737, + 0.8619262099634727, + -0.0035717689897865057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9998301863670349, + 0.010343532766753899, + -0.015252882054182617, + 0.02913828007876873 + ], + [ + -0.016660628840327263, + 0.8610974221347563, + -0.5081669820898753, + -0.04093252494931221 + ], + [ + 0.007877975702285767, + 0.5083347919169251, + 0.8611234784193734, + -0.0033419777173548937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998384714126587, + 0.010330584703247157, + -0.014708322656362561, + 0.028346363455057144 + ], + [ + -0.016384350135922432, + 0.8602966496116291, + -0.509530382056836, + -0.041026771068573 + ], + [ + 0.007389775477349758, + 0.5096890317304725, + 0.8603269434896017, + -0.0033579347655177116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998551607131958, + 0.010056490856095765, + -0.013730344331016008, + 0.02695402130484581 + ], + [ + -0.0156614538282156, + 0.859434222027062, + -0.5110063968860001, + -0.040978942066431046 + ], + [ + 0.006661396473646164, + 0.5111474501143859, + 0.8594672377891399, + -0.0036072288639843464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998802542686462, + 0.01040431978863293, + -0.011456934100006514, + 0.023330286145210266 + ], + [ + -0.01480634231120348, + 0.8585410476770584, + -0.512530969724838, + -0.04022139683365822 + ], + [ + 0.004503712058067322, + 0.5126392526038288, + 0.8585922852353025, + -0.00381837016902864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9998929500579834, + 0.010172198615575612, + -0.010516117602959445, + 0.02182372473180294 + ], + [ + -0.014129041694104671, + 0.8579694998231016, + -0.5135062728069475, + -0.04010661691427231 + ], + [ + 0.003799020778387785, + 0.5135998885088888, + 0.8580214216802873, + -0.0038902410306036472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9998981952667236, + 0.010016132295371237, + -0.010163502554511417, + 0.021161669865250587 + ], + [ + -0.013818559236824512, + 0.8573199637527792, + -0.5145984617008413, + -0.040089450776576996 + ], + [ + 0.0035590874031186104, + 0.5146864928765643, + 0.8573710619381559, + -0.003839882556349039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9999005198478699, + 0.00998226389266492, + -0.009964446214480047, + 0.020756255835294724 + ], + [ + -0.013692483305931091, + 0.8564994528355211, + -0.5159663326240245, + -0.04009348899126053 + ], + [ + 0.0033840304240584373, + 0.5160514195502957, + 0.8565509031657574, + -0.0037067641969770193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9999045133590698, + 0.010003532568335404, + -0.009534101095248894, + 0.019993698224425316 + ], + [ + -0.013493748381733894, + 0.8556164238232203, + -0.5174344792442783, + -0.04007174074649811 + ], + [ + 0.002981360536068678, + 0.5175137482861428, + 0.8556697269471942, + -0.003585551166906953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9999070167541504, + 0.010274326956052075, + -0.008968147025187128, + 0.0189672838896513 + ], + [ + -0.013437382876873016, + 0.8545526025064677, + -0.5191910009343199, + -0.039882104843854904 + ], + [ + 0.0023294161073863506, + 0.5192631992300043, + 0.8546111883618818, + -0.003567151725292206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9999067783355715, + 0.010407779822763483, + -0.008840774461505713, + 0.01848020777106285 + ], + [ + -0.013488589785993103, + 0.8537518984485968, + -0.5205053422476532, + -0.040425773710012436 + ], + [ + 0.002130522625520826, + 0.5205760651085263, + 0.8538126442415478, + -0.003761939238756895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9999033212661743, + 0.010967202102206709, + -0.00854524703268485, + 0.01774086244404316 + ], + [ + -0.013815557584166527, + 0.8526978168364344, + -0.5222217936137744, + -0.04041120037436485 + ], + [ + 0.0015592018608003855, + 0.5222893642497447, + 0.8527669118900822, + -0.003669335972517729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.99989914894104, + 0.011541582754756924, + -0.00827667222118323, + 0.017074361443519592 + ], + [ + -0.01416697632521391, + 0.8517285462381833, + -0.5237917780798302, + -0.04021778330206871 + ], + [ + 0.0010040916968137026, + 0.5238561936796239, + 0.8518061302026575, + -0.00398229667916894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 834.4466959635416, + "fy": 833.9759928385416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/boom_down/transforms.json b/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4d699d6fb9ddb1fa1292d6a4c7389735b1a1116b --- /dev/null +++ b/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/boom_down/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00012795822112821043, + -6.58603894407861e-05, + 1.245094244950451e-05 + ], + [ + -0.0001279363059438765, + 0.9999999403953552, + 0.0003326068399474025, + -0.00020766525994986296 + ], + [ + 6.590293924091384e-05, + -0.00033259839983657, + 0.9999999403953552, + -9.35567295528017e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0005714510334655643, + -0.00030095677357167006, + 9.78891163711147e-05 + ], + [ + 0.0005694882711395621, + 0.9999788403511047, + -0.006481964141130447, + 0.0011184393275721833 + ], + [ + 0.0003046545316465199, + 0.0064817918464541435, + 0.9999789595603943, + -0.0033660890522477184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999996423721313, + -0.000490170088596642, + -0.0006629406125284731, + 0.00031098854188116846 + ], + [ + 0.00048334861639887094, + 0.9999473690986633, + -0.010251044295728207, + -4.8787997842862705e-05 + ], + [ + 0.0006679304060526192, + 0.01025072019547224, + 0.9999472498893738, + -0.00397868550238039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.0005766014801338315, + 3.567800740711391e-05, + -0.0003103761935249324 + ], + [ + 0.0005770738935098052, + 0.999886155128479, + -0.015078136697411537, + -0.0001213531371141816 + ], + [ + -2.697986928978935e-05, + 0.01507815532386303, + 0.9998863339424133, + -0.00515985358105009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.0006231171428225935, + 0.00012769845488946885, + -0.00051132374320677 + ], + [ + 0.0006255596526898444, + 0.9997974634170532, + -0.020114587619900703, + 5.4975557301578876e-05 + ], + [ + -0.00011513884965097532, + 0.020114662125706673, + 0.9997977018356323, + -0.00664608101199927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860657, + -0.0003543963539414108, + 0.0004285846371203661, + -0.0008683502517293352 + ], + [ + 0.00036476890090852976, + 0.9997010231018066, + -0.024448979645967484, + -5.072248489435341e-05 + ], + [ + -0.0004197918460704386, + 0.02444913238286972, + 0.9997009634971619, + -0.008207765680834138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999998211860657, + -4.837218511966057e-05, + 0.0005720998742617667, + -0.0011875602189602747 + ], + [ + 6.425259198294953e-05, + 0.9996137619018555, + -0.027790745720267296, + -0.0007874975366325213 + ], + [ + -0.0005705345538444817, + 0.027790779247879982, + 0.9996135830879211, + -0.009307934223385207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999994039535522, + 0.00038092563045211136, + 0.0010167828295379877, + -0.001549034403320422 + ], + [ + -0.00034843405592255294, + 0.999495267868042, + -0.0317663736641407, + -0.001542990503768469 + ], + [ + -0.0010283703450113535, + 0.031766001135110855, + 0.9994947910308838, + -0.009822462192447534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0004218927351757884, + 0.0011155030224472284, + -0.0019207953407172243 + ], + [ + -0.00038108864100649953, + 0.999339759349823, + -0.03632964938879013, + -0.001781949368787223 + ], + [ + -0.0011300938203930855, + 0.03632919490337372, + 0.99933922290802, + -0.010884234726685902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999995231628418, + -0.00013516063336282969, + 0.0009895183611661196, + -0.0022968871007645344 + ], + [ + 0.00017466628924012184, + 0.999198317527771, + -0.040033526718616486, + -0.0028372025534767523 + ], + [ + -0.000983314123004675, + 0.04003368318080902, + 0.9991978406906128, + -0.012178384313552544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999990463256836, + -0.0003439329157117754, + 0.001318319933488965, + -0.0024962260289737906 + ], + [ + 0.000402932200813666, + 0.9989861249923706, + -0.04501761496067047, + -0.0033058737372529913 + ], + [ + -0.0013015002477914095, + 0.04501810669898987, + 0.9989853501319885, + -0.012164843557723638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999998927116394, + -0.00039302193908952177, + 0.0014264351921156049, + -0.0027179004451995596 + ], + [ + 0.00046255943016149104, + 0.998794674873352, + -0.04908088222146034, + -0.0042378353533046 + ], + [ + -0.0014054259518161416, + 0.04908148571848869, + 0.9987937808036804, + -0.012549970586430923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999980330467224, + 0.0006318144151009619, + 0.0018654597224667668, + -0.003028648212283111 + ], + [ + -0.0005326622049324214, + 0.9986112117767334, + -0.05268178507685661, + -0.005267347286230531 + ], + [ + -0.0018961540190503001, + 0.052680689841508865, + 0.9986096024513245, + -0.012733251819836682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999997615814209, + 0.0007718809647485614, + 0.0020365610253065825, + -0.0030691415138225523 + ], + [ + -0.0006536333821713924, + 0.9983488917350769, + -0.057437386363744736, + -0.0055682690621450025 + ], + [ + -0.0020775331649929285, + 0.05743591859936714, + 0.9983470439910889, + -0.01341582070233236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999986290931702, + 0.0004593953490257263, + 0.0015868255868554115, + -0.00240988131484081 + ], + [ + -0.000361402693670243, + 0.9981247782707214, + -0.061211321502923965, + -0.006501780758643973 + ], + [ + -0.0016119701322168112, + 0.061210665851831436, + 0.9981235861778259, + -0.013859010234089761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999995827674866, + -9.826570021687075e-05, + 0.0009261168888770044, + -0.0014900429543151152 + ], + [ + 0.00015854515368118882, + 0.9978646636009216, + -0.0653148964047432, + -0.006980760825862144 + ], + [ + -0.0009177211322821677, + 0.06531501561403275, + 0.9978642463684082, + -0.013878146009840843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999995231628418, + -0.0003534829302225262, + 0.0008883372065611184, + -0.0010071422039643573 + ], + [ + 0.00041444358066655695, + 0.9975757598876953, + -0.06958776712417603, + -0.007338795579712966 + ], + [ + -0.0008615855476818979, + 0.06958810985088348, + 0.9975754618644714, + -0.01381199804359469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999999463558197, + -0.001015488407574594, + -0.00012546245125122368, + 5.221922700253219e-05 + ], + [ + 0.001003596349619329, + 0.997322678565979, + -0.07311967760324478, + -0.007933810552389457 + ], + [ + 0.00019937873003073037, + 0.07311951369047165, + 0.9973231554031372, + -0.014723993243713832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999993443489075, + -0.0011391675798222423, + 5.8713165344670415e-05, + 0.0007721585555780871 + ], + [ + 0.001140330801717937, + 0.9970953464508057, + -0.07615526765584946, + -0.008712239961685804 + ], + [ + 2.8210981326992624e-05, + 0.07615528255701065, + 0.9970959424972534, + -0.013472329786625402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999969601631165, + -0.002364876214414835, + -0.0007288944907486439, + 0.0022138471556586567 + ], + [ + 0.002299327403306961, + 0.9968219995498657, + -0.0796276405453682, + -0.009232689350329596 + ], + [ + 0.0009148875251412392, + 0.07962571829557419, + 0.9968243837356567, + -0.013599108207713942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999968409538269, + -0.002389173489063978, + -0.0007570446468889713, + 0.0029356699589447215 + ], + [ + 0.0023185093887150288, + 0.9965828061103821, + -0.08256719261407852, + -0.009908940514613841 + ], + [ + 0.0009517250582575798, + 0.08256518095731735, + 0.9965851902961731, + -0.013149069686388147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999991774559021, + -0.0037803000304847956, + -0.0014882544055581093, + 0.004056313030465892 + ], + [ + 0.003638705937191844, + 0.9963073134422302, + -0.0857815071940422, + -0.010765061925711302 + ], + [ + 0.0018070386722683907, + 0.08577538281679153, + 0.9963128566741943, + -0.01331321767627679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999906420707703, + -0.00390723766759038, + -0.0018502369057387114, + 0.005037384919003294 + ], + [ + 0.00372614455409348, + 0.9959869980812073, + -0.08942015469074249, + -0.011231482016115353 + ], + [ + 0.0021921976003795862, + 0.08941242098808289, + 0.9959923028945923, + -0.01227313991764496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999879598617554, + -0.004420956131070852, + -0.002125038066878915, + 0.0057944409234112065 + ], + [ + 0.004206607583910227, + 0.9957461953163147, + -0.09204225987195969, + -0.012318986320290071 + ], + [ + 0.002522913506254554, + 0.09203221648931503, + 0.9957528114318848, + -0.012622379200083429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999818801879883, + -0.005529945716261864, + -0.0023911334574222565, + 0.0066363035380069555 + ], + [ + 0.005276717245578766, + 0.9954279661178589, + -0.09536958485841751, + -0.012732975762979737 + ], + [ + 0.0029075895436108112, + 0.09535523504018784, + 0.9954390525817871, + -0.012752042274022924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999849796295166, + -0.00485643558204174, + -0.0025317734107375145, + 0.007338361481429431 + ], + [ + 0.0045850845053792, + 0.9951798319816589, + -0.09795934706926346, + -0.013417102332259045 + ], + [ + 0.0029953033663332462, + 0.09794626384973526, + 0.9951872229576111, + -0.012877154501219248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999788403511047, + -0.005825874861329794, + -0.002898557810112834, + 0.008134939168692278 + ], + [ + 0.005504301283508539, + 0.9948986172676086, + -0.1007295623421669, + -0.014204869971706948 + ], + [ + 0.0034706087317317724, + 0.10071147233247757, + 0.9949096441268921, + -0.012547693472227145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999780654907227, + -0.005864516366273165, + -0.003068813355639577, + 0.008956382257647106 + ], + [ + 0.005516447592526674, + 0.9946429133415222, + -0.10322316735982895, + -0.014813106108842225 + ], + [ + 0.0036577272694557905, + 0.10320397466421127, + 0.9946534633636475, + -0.012321068324020197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999730587005615, + -0.006560503039509058, + -0.003290248103439808, + 0.009784235385375033 + ], + [ + 0.006175206508487463, + 0.9943574070930481, + -0.10590215027332306, + -0.015567720912653824 + ], + [ + 0.003966453950852156, + 0.10587897896766663, + 0.9943711161613464, + -0.012716455648428408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999645948410034, + -0.0074197594076395035, + -0.003962874878197908, + 0.010997419874183834 + ], + [ + 0.006945493631064892, + 0.9940594434738159, + -0.10861662030220032, + -0.01609516516327858 + ], + [ + 0.004745242651551962, + 0.10858525335788727, + 0.9940758347511292, + -0.012629926577210427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999567270278931, + -0.008231482468545437, + -0.004330938216298819, + 0.011848031747925642 + ], + [ + 0.007697951514273882, + 0.9937475919723511, + -0.11138416826725006, + -0.016592759253649874 + ], + [ + 0.00522071635350585, + 0.11134600639343262, + 0.9937679767608643, + -0.01243833179489292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999955952167511, + -0.008230630308389664, + -0.0045168716460466385, + 0.012644442500032741 + ], + [ + 0.007663073483854532, + 0.9934707283973694, + -0.11382974684238434, + -0.017328213759023568 + ], + [ + 0.005424270406365395, + 0.1137901097536087, + 0.9934899806976318, + -0.011965545247597941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999487400054932, + -0.008881031535565853, + -0.0048645492643117905, + 0.01343561696081326 + ], + [ + 0.008255108259618282, + 0.9931792616844177, + -0.11630495637655258, + -0.017832264920760843 + ], + [ + 0.005864277482032776, + 0.11625883728265762, + 0.9932016134262085, + -0.012179981583151324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999465942382812, + -0.00900883786380291, + -0.005066306330263615, + 0.014162560508201092 + ], + [ + 0.008343743160367012, + 0.9928919076919556, + -0.11872667819261551, + -0.01840043669116908 + ], + [ + 0.006099884398281574, + 0.11867807060480118, + 0.9929140210151672, + -0.011603354177726753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999378323554993, + -0.009859850630164146, + -0.005206769332289696, + 0.014925468393505134 + ], + [ + 0.009155439212918282, + 0.9925702810287476, + -0.12132759392261505, + -0.018886824645872775 + ], + [ + 0.006364356726408005, + 0.12127238512039185, + 0.9925988912582397, + -0.011128384921828221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999374747276306, + -0.00990566611289978, + -0.005191044416278601, + 0.015268146220980019 + ], + [ + 0.00918886810541153, + 0.9923015236854553, + -0.12350385636091232, + -0.019541120092416632 + ], + [ + 0.006374469492584467, + 0.1234484389424324, + 0.9923304915428162, + -0.010785727617170277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999347925186157, + -0.010153071954846382, + -0.005232478957623243, + 0.015565727352453717 + ], + [ + 0.009416000917553902, + 0.9920434355735779, + -0.1255432665348053, + -0.020469696562865684 + ], + [ + 0.006465496029704809, + 0.12548580765724182, + 0.9920743703842163, + -0.01020220092272964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999240636825562, + -0.010916702449321747, + -0.005722792819142342, + 0.0162064291312006 + ], + [ + 0.010095249861478806, + 0.9917346835136414, + -0.12790784239768982, + -0.020979969948530196 + ], + [ + 0.007071823813021183, + 0.1278403401374817, + 0.991769552230835, + -0.010151514526585054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999223947525024, + -0.011089367792010307, + -0.005676800385117531, + 0.0166619584140978 + ], + [ + 0.010257035493850708, + 0.9914526343345642, + -0.13006331026554108, + -0.021479317211899263 + ], + [ + 0.007070598192512989, + 0.12999500334262848, + 0.9914894104003906, + -0.008710324115537363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999918520450592, + -0.011466055177152157, + -0.005605899263173342, + 0.01695031676850892 + ], + [ + 0.010626294650137424, + 0.9911990761756897, + -0.13195264339447021, + -0.022271568045533933 + ], + [ + 0.007069538813084364, + 0.13188233971595764, + 0.9912401437759399, + -0.008130164521521535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999118447303772, + -0.01194710098206997, + -0.0057943337596952915, + 0.0175260322425386 + ], + [ + 0.0110621377825737, + 0.9909011125564575, + -0.13413669168949127, + -0.022714834403375097 + ], + [ + 0.007344156038016081, + 0.13406075537204742, + 0.9909458756446838, + -0.007757194693489321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999906599521637, + -0.012406333349645138, + -0.0057320790365338326, + 0.01786382334218521 + ], + [ + 0.01151453796774149, + 0.9906933903694153, + -0.1356244832277298, + -0.023387064014015527 + ], + [ + 0.007361335679888725, + 0.13554580509662628, + 0.9907437562942505, + -0.006846478851190928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999009370803833, + -0.012757327407598495, + -0.00594939524307847, + 0.01821383050610793 + ], + [ + 0.011820033192634583, + 0.9904608726501465, + -0.13728639483451843, + -0.02393910296518227 + ], + [ + 0.0076440502889454365, + 0.13720247149467468, + 0.9905135035514832, + -0.006206045319037191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9998984932899475, + -0.012891528196632862, + -0.00606664689257741, + 0.018423965650787254 + ], + [ + 0.011927659623324871, + 0.9902963042259216, + -0.138459250330925, + -0.024580801226969422 + ], + [ + 0.007792729418724775, + 0.13837282359600067, + 0.990349531173706, + -0.006343177461932446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998922348022461, + -0.013300144113600254, + -0.006215152330696583, + 0.01883303089677517 + ], + [ + 0.012298705987632275, + 0.9900639653205872, + -0.14007899165153503, + -0.024830737170474283 + ], + [ + 0.008016468957066536, + 0.13998746871948242, + 0.9901208281517029, + -0.005648977604919466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9998863339424133, + -0.013646501116454601, + -0.006406385917216539, + 0.019237173570657212 + ], + [ + 0.01260655838996172, + 0.9899183511734009, + -0.1410772204399109, + -0.025225118316453077 + ], + [ + 0.008267008699476719, + 0.14098042249679565, + 0.9899778366088867, + -0.005353512627811268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9998870491981506, + -0.01364174485206604, + -0.0063076019287109375, + 0.01933515186196771 + ], + [ + 0.012606004253029823, + 0.9897489547729492, + -0.14226052165031433, + -0.025447876366048023 + ], + [ + 0.008183623664081097, + 0.142164945602417, + 0.9898091554641724, + -0.004786013847152734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9998830556869507, + -0.013882101513445377, + -0.0064150565303862095, + 0.01956377475851633 + ], + [ + 0.012824331410229206, + 0.9896723031997681, + -0.14277349412441254, + -0.02614652848449247 + ], + [ + 0.008330799639225006, + 0.142674520611763, + 0.9897345900535583, + -0.004321963943797967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998743534088135, + -0.014397439546883106, + -0.0066285813227295876, + 0.019905166578446997 + ], + [ + 0.013297966681420803, + 0.9895668625831604, + -0.1434594988822937, + -0.026633705661214632 + ], + [ + 0.00862487405538559, + 0.14335334300994873, + 0.9896339774131775, + -0.003961902657716438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998693466186523, + -0.014677770435810089, + -0.006769987754523754, + 0.020269983502682942 + ], + [ + 0.013547701761126518, + 0.9894420504570007, + -0.14429447054862976, + -0.026883262318783793 + ], + [ + 0.008816431276500225, + 0.1441839039325714, + 0.9895116090774536, + -0.003100211012723117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998595714569092, + -0.015129944309592247, + -0.007203084882348776, + 0.021216701852671545 + ], + [ + 0.013929042965173721, + 0.9893798232078552, + -0.14468449354171753, + -0.02724710273845442 + ], + [ + 0.009315654635429382, + 0.14456385374069214, + 0.9894516468048096, + -0.002324594329271851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.99983811378479, + -0.016147956252098083, + -0.00793846882879734, + 0.02241012524042664 + ], + [ + 0.014823892153799534, + 0.9892788529396057, + -0.1452847421169281, + -0.02755718729619322 + ], + [ + 0.01019941084086895, + 0.1451435387134552, + 0.9893580675125122, + -0.0010607953889873517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999832272529602, + -0.01642882078886032, + -0.008097578771412373, + 0.02331877657822494 + ], + [ + 0.015072676353156567, + 0.9891908168792725, + -0.1458573341369629, + -0.027718813614598634 + ], + [ + 0.0104063143953681, + 0.14571082592010498, + 0.9892724752426147, + -0.0001907831892885006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998214244842529, + -0.016744138672947884, + -0.008763457648456097, + 0.024305013511811607 + ], + [ + 0.015287255868315697, + 0.9891828894615173, + -0.14588873088359833, + -0.028272851273931306 + ], + [ + 0.011111442930996418, + 0.1457286924123764, + 0.9892621636390686, + 0.0006557835394452359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998136162757874, + -0.017085133120417595, + -0.008988776244223118, + 0.024837802907708904 + ], + [ + 0.015583737753331661, + 0.9890749454498291, + -0.1465875804424286, + -0.028310752737111058 + ], + [ + 0.011395041830837727, + 0.1464201807975769, + 0.9891568422317505, + 0.0008969730167681803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998005628585815, + -0.017720824107527733, + -0.009209657087922096, + 0.02527814627833793 + ], + [ + 0.016178036108613014, + 0.9890375733375549, + -0.14677530527114868, + -0.0286968938749412 + ], + [ + 0.011709675192832947, + 0.1465970277786255, + 0.989126980304718, + 0.0018813605420291428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997970461845398, + -0.01794193685054779, + -0.009163163602352142, + 0.0254560770145778 + ], + [ + 0.016401536762714386, + 0.9890081882476807, + -0.14694847166538239, + -0.028946722530085466 + ], + [ + 0.011698983609676361, + 0.14676834642887115, + 0.9891017079353333, + 0.002994972661314211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997977614402771, + -0.01792929135262966, + -0.00910781417042017, + 0.025333728902202486 + ], + [ + 0.016394739970564842, + 0.9889777898788452, + -0.1471533626317978, + -0.029102597437028227 + ], + [ + 0.011645781807601452, + 0.14697428047657013, + 0.9890717267990112, + 0.0034995490103028716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997919797897339, + -0.018201114609837532, + -0.009206929244101048, + 0.025512927724048496 + ], + [ + 0.016652172431349754, + 0.9890124201774597, + -0.14689165353775024, + -0.029498573392629623 + ], + [ + 0.0117793595418334, + 0.14670777320861816, + 0.9891097545623779, + 0.004167571535799653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997996091842651, + -0.017719179391860962, + -0.009314480237662792, + 0.02561403588745101 + ], + [ + 0.01615651696920395, + 0.9889816045761108, + -0.14715400338172913, + -0.029330241474612006 + ], + [ + 0.011819298379123211, + 0.14697402715682983, + 0.9890697598457336, + 0.00440634558467066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999782145023346, + -0.01852046325802803, + -0.009627113118767738, + 0.026260634723665386 + ], + [ + 0.0169038325548172, + 0.9889769554138184, + -0.14710144698619843, + -0.029567483684112283 + ], + [ + 0.012245379388332367, + 0.14690665900707245, + 0.9890745878219604, + 0.005908600247368731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997619986534119, + -0.019385630264878273, + -0.010009420104324818, + 0.02693537323944399 + ], + [ + 0.017703456804156303, + 0.9889626502990723, + -0.14710353314876556, + -0.029586815885428726 + ], + [ + 0.012750637717545033, + 0.14689131081104279, + 0.989070475101471, + 0.006888278713449836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997566938400269, + -0.019586464390158653, + -0.01014228630810976, + 0.027352271452224974 + ], + [ + 0.017886528745293617, + 0.9890040755271912, + -0.146802619099617, + -0.029740580839329754 + ], + [ + 0.012906107120215893, + 0.14658550918102264, + 0.9891138076782227, + 0.007307428378483345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.999770998954773, + -0.019073711708188057, + -0.009700424037873745, + 0.02736568776649776 + ], + [ + 0.017449626699090004, + 0.9890775680541992, + -0.14635935425758362, + -0.02984278279131856 + ], + [ + 0.012386088259518147, + 0.14615657925605774, + 0.9891839027404785, + 0.008499546496775645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.99977046251297, + -0.019120801240205765, + -0.009665708057582378, + 0.027506493956878268 + ], + [ + 0.01750960573554039, + 0.9891748428344727, + -0.14569337666034698, + -0.03004577576086439 + ], + [ + 0.012346849776804447, + 0.14549069106578827, + 0.9892825484275818, + 0.009545793098493897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997594952583313, + -0.019443532451987267, + -0.010145836509764194, + 0.02788946283419199 + ], + [ + 0.017765773460268974, + 0.9892461895942688, + -0.145176962018013, + -0.030079955299352777 + ], + [ + 0.012859483249485493, + 0.14496178925037384, + 0.9893536567687988, + 0.009998614578668415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997507333755493, + -0.020029719918966293, + -0.00986085832118988, + 0.027967721316963436 + ], + [ + 0.018396969884634018, + 0.9893474578857422, + -0.14440612494945526, + -0.03035390939691971 + ], + [ + 0.01264822855591774, + 0.14418871700763702, + 0.9894693493843079, + 0.011289178384146814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997425675392151, + -0.02027943916618824, + -0.01017701718956232, + 0.028232150175608695 + ], + [ + 0.01860818825662136, + 0.989450991153717, + -0.1436680108308792, + -0.03046710979321907 + ], + [ + 0.012983166612684727, + 0.14344166219234467, + 0.98957359790802, + 0.011861541318096991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997243881225586, + -0.021074624732136726, + -0.010342485271394253, + 0.02841416636867256 + ], + [ + 0.019378943368792534, + 0.9895172119140625, + -0.14310882985591888, + -0.03048386471024875 + ], + [ + 0.013250031508505344, + 0.14286895096302032, + 0.9896529316902161, + 0.01224102072803111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9997348785400391, + -0.0205815602093935, + -0.01032292004674673, + 0.02868728234577153 + ], + [ + 0.018909284844994545, + 0.9896951913833618, + -0.14193634688854218, + -0.030800261245719315 + ], + [ + 0.013137814588844776, + 0.1417035311460495, + 0.9898219704627991, + 0.013570094782987546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9997337460517883, + -0.02064075507223606, + -0.010316392406821251, + 0.029152804576181645 + ], + [ + 0.01898120902478695, + 0.9898273944854736, + -0.14100171625614166, + -0.030925723884640068 + ], + [ + 0.01312183029949665, + 0.140768364071846, + 0.9899556040763855, + 0.015068034223955253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997256994247437, + -0.020878948271274567, + -0.010609903372824192, + 0.029748646108883208 + ], + [ + 0.019189074635505676, + 0.9899629950523376, + -0.14001788198947906, + -0.03115451675036858 + ], + [ + 0.013426837511360645, + 0.13977588713169098, + 0.9900921583175659, + 0.015329703630815292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997058510780334, + -0.021374035626649857, + -0.011461741290986538, + 0.030689351761649396 + ], + [ + 0.01956583932042122, + 0.9900100827217102, + -0.1396322399377823, + -0.030849438263424508 + ], + [ + 0.01433174405246973, + 0.13936690986156464, + 0.9901371002197266, + 0.014972254280643218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996969699859619, + -0.021783573552966118, + -0.01146363839507103, + 0.031134657215744516 + ], + [ + 0.019990118220448494, + 0.9901850819587708, + -0.13832522928714752, + -0.03132624867661246 + ], + [ + 0.014364341273903847, + 0.13805414736270905, + 0.9903205037117004, + 0.016004534990623077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9997143149375916, + -0.021209128201007843, + -0.01101848017424345, + 0.031419161469515025 + ], + [ + 0.019497841596603394, + 0.9903466701507568, + -0.13723450899124146, + -0.03156445920467377 + ], + [ + 0.013822739012539387, + 0.13698047399520874, + 0.9904773235321045, + 0.018960493526838977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997217059135437, + -0.020919673144817352, + -0.010904168710112572, + 0.03175895954963976 + ], + [ + 0.019237425178289413, + 0.9904585480690002, + -0.13646146655082703, + -0.031642530627291776 + ], + [ + 0.013654856011271477, + 0.13621371984481812, + 0.9905853867530823, + 0.020935004577040672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997015595436096, + -0.02169896848499775, + -0.011222291737794876, + 0.03239952581774058 + ], + [ + 0.019977083429694176, + 0.9905495643615723, + -0.1356925219297409, + -0.03171825347275569 + ], + [ + 0.014060623943805695, + 0.13542784750461578, + 0.9906874299049377, + 0.02240729321693552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99964839220047, + -0.023520004004240036, + -0.012244658544659615, + 0.032865094741934844 + ], + [ + 0.02164747193455696, + 0.9905539751052856, + -0.13540390133857727, + -0.03160790004606905 + ], + [ + 0.01531369611620903, + 0.13509121537208557, + 0.9907148480415344, + 0.020932804767427773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999697208404541, + -0.02177184633910656, + -0.011464443057775497, + 0.03275351379034591 + ], + [ + 0.020036322996020317, + 0.990735650062561, + -0.1343184858560562, + -0.0317255164014882 + ], + [ + 0.014282593503594398, + 0.13404811918735504, + 0.9908719062805176, + 0.025112909399743737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996582865715027, + -0.023193281143903732, + -0.012059221975505352, + 0.033041650074502 + ], + [ + 0.02137216180562973, + 0.9907689094543457, + -0.1338663548231125, + -0.03168463871396821 + ], + [ + 0.015052701346576214, + 0.1335628777742386, + 0.9909260272979736, + 0.024584348775960246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999640941619873, + -0.02378426119685173, + -0.01234290562570095, + 0.03315076039269053 + ], + [ + 0.02192893996834755, + 0.9908343553543091, + -0.13329076766967773, + -0.03163619262391123 + ], + [ + 0.015399996191263199, + 0.13297224044799805, + 0.9910001158714294, + 0.023748653330679596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996275901794434, + -0.023994503542780876, + -0.01299775019288063, + 0.03331273464116685 + ], + [ + 0.022066855803132057, + 0.9909685850143433, + -0.1322661191225052, + -0.03176825252072565 + ], + [ + 0.016054021194577217, + 0.13193003833293915, + 0.9911290407180786, + 0.02150237004690129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996300935745239, + -0.023964865133166313, + -0.012857921421527863, + 0.033389840405113225 + ], + [ + 0.02206859178841114, + 0.9910736083984375, + -0.13147667050361633, + -0.03188197669284097 + ], + [ + 0.01589396595954895, + 0.13114428520202637, + 0.9912358522415161, + 0.022968599174557063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996254444122314, + -0.02396533451974392, + -0.013215944170951843, + 0.033586888290652685 + ], + [ + 0.022038670256733894, + 0.9912079572677612, + -0.1304648220539093, + -0.0319975637670221 + ], + [ + 0.016226381063461304, + 0.13012468814849854, + 0.9913648366928101, + 0.021476122454322618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9995955228805542, + -0.024981705471873283, + -0.013591434806585312, + 0.034069360937152446 + ], + [ + 0.023007644340395927, + 0.9912639856338501, + -0.12987056374549866, + -0.031945908120993904 + ], + [ + 0.016717087477445602, + 0.12950533628463745, + 0.9914377927780151, + 0.021427024823838268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9995813369750977, + -0.02509503997862339, + -0.014400307089090347, + 0.03480702003961879 + ], + [ + 0.023032458499073982, + 0.9913904070854187, + -0.12889763712882996, + -0.03194375683007569 + ], + [ + 0.017511017620563507, + 0.12851199507713318, + 0.9915533661842346, + 0.019395904262261142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9995695948600769, + -0.025400687009096146, + -0.01467649545520544, + 0.035411604856751086 + ], + [ + 0.023311160504817963, + 0.9914637207984924, + -0.12828215956687927, + -0.03187371286852606 + ], + [ + 0.01780966855585575, + 0.12788483500480652, + 0.9916291236877441, + 0.021326620106039376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9995531439781189, + -0.02580961398780346, + -0.015080245211720467, + 0.03576938777696341 + ], + [ + 0.023682160302996635, + 0.991574227809906, + -0.12735681235790253, + -0.03195768222212791 + ], + [ + 0.01824021153151989, + 0.12694276869297028, + 0.9917423129081726, + 0.020701642148196697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9995465278625488, + -0.025955528020858765, + -0.015265450812876225, + 0.03617385371491827 + ], + [ + 0.023828625679016113, + 0.9917442202568054, + -0.12599854171276093, + -0.03233473783936994 + ], + [ + 0.01840978115797043, + 0.1255776435136795, + 0.9919129610061646, + 0.021041513992280797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995197057723999, + -0.02708691731095314, + -0.015056546777486801, + 0.03629558899375642 + ], + [ + 0.024984151124954224, + 0.9917619228363037, + -0.12563450634479523, + -0.03230290895905987 + ], + [ + 0.018335562199354172, + 0.12519799172878265, + 0.9919623136520386, + 0.022821157432064927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9995073080062866, + -0.027530137449502945, + -0.0150741683319211, + 0.03640297220634489 + ], + [ + 0.025438915938138962, + 0.9918673634529114, + -0.1247076615691185, + -0.032470287177069436 + ], + [ + 0.018384795635938644, + 0.1242627426981926, + 0.9920790195465088, + 0.022947664051477253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9995187520980835, + -0.027163945138454437, + -0.014980585314333439, + 0.03664958016818454 + ], + [ + 0.025100022554397583, + 0.9919637441635132, + -0.12400750815868378, + -0.03245738739597386 + ], + [ + 0.01822873018682003, + 0.12357181310653687, + 0.9921681880950928, + 0.025232257604085165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9995051622390747, + -0.027609165757894516, + -0.015072926878929138, + 0.03680246492269738 + ], + [ + 0.025541573762893677, + 0.9920273423194885, + -0.12340745329856873, + -0.03242694396397163 + ], + [ + 0.01835993304848671, + 0.12296140193939209, + 0.992241621017456, + 0.02548612172490564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9995095729827881, + -0.027511756867170334, + -0.014956625178456306, + 0.03703468706747838 + ], + [ + 0.025472376495599747, + 0.9921181201934814, + -0.1226898655295372, + -0.03245725559777227 + ], + [ + 0.01821415312588215, + 0.12224871665239334, + 0.9923323392868042, + 0.027809478551277828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9995058178901672, + -0.027577955275774002, + -0.015085962601006031, + 0.03703321469305404 + ], + [ + 0.025542110204696655, + 0.9922484755516052, + -0.12161628901958466, + -0.03267199345703783 + ], + [ + 0.018322952091693878, + 0.12117086350917816, + 0.9924625158309937, + 0.02606220476586243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9994924664497375, + -0.027943074703216553, + -0.015296842902898788, + 0.037413070299502076 + ], + [ + 0.02589067444205284, + 0.9923155903816223, + -0.12099338322877884, + -0.03266877565404464 + ], + [ + 0.018560223281383514, + 0.12053593248128891, + 0.9925354719161987, + 0.027403882688617914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999492883682251, + -0.027849383652210236, + -0.015441568568348885, + 0.03766040177694682 + ], + [ + 0.02579568699002266, + 0.9924180507659912, + -0.12017086893320084, + -0.03272872335951904 + ], + [ + 0.018671175464987755, + 0.11971160024404526, + 0.9926331043243408, + 0.027754792699526097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9994984269142151, + -0.027616089209914207, + -0.015498965978622437, + 0.03775153370525945 + ], + [ + 0.025576451793313026, + 0.9925472140312195, + -0.11914662271738052, + -0.03292291783567133 + ], + [ + 0.018673818558454514, + 0.11869045346975327, + 0.9927557110786438, + 0.028283988835354303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9994714856147766, + -0.028422247618436813, + -0.01577899418771267, + 0.038095845837659875 + ], + [ + 0.026352420449256897, + 0.9925809502601624, + -0.1186952143907547, + -0.03280769031623314 + ], + [ + 0.01903551258146763, + 0.11821666359901428, + 0.9928053617477417, + 0.028925909358879617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9994606375694275, + -0.028779571875929832, + -0.015818266198039055, + 0.03824239999360951 + ], + [ + 0.026719199493527412, + 0.9926737546920776, + -0.1178344339132309, + -0.032955802000802135 + ], + [ + 0.019093601033091545, + 0.11734822392463684, + 0.9929072856903076, + 0.03029394942367899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9994648098945618, + -0.028614889830350876, + -0.015851730480790138, + 0.03846299124817396 + ], + [ + 0.026563994586467743, + 0.9927535057067871, + -0.11719562858343124, + -0.032889916465200224 + ], + [ + 0.019090401008725166, + 0.1167118176817894, + 0.9929823279380798, + 0.032053686164576434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9994462728500366, + -0.029208235442638397, + -0.015939656645059586, + 0.03825466243935556 + ], + [ + 0.027161020785570145, + 0.9928461909294128, + -0.11627000570297241, + -0.0330673907080601 + ], + [ + 0.01922166720032692, + 0.11577267944812775, + 0.9930897355079651, + 0.0303385352330475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9994392395019531, + -0.02933645434677601, + -0.016141189262270927, + 0.03825685006309429 + ], + [ + 0.02728223241865635, + 0.9929453134536743, + -0.11539184302091599, + -0.033218559108931435 + ], + [ + 0.019412504509091377, + 0.11488676816225052, + 0.9931889176368713, + 0.03046876963484904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9994259476661682, + -0.029606301337480545, + -0.016468442976474762, + 0.03847174602881845 + ], + [ + 0.027526669204235077, + 0.9930198192596436, + -0.11469070613384247, + -0.03325943818380093 + ], + [ + 0.019749056547880173, + 0.11417154967784882, + 0.9932647347450256, + 0.03131802694165501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9994125962257385, + -0.029820047318935394, + -0.016887642443180084, + 0.038759641426390615 + ], + [ + 0.02771395444869995, + 0.9931434988975525, + -0.11356895416975021, + -0.03354221911265932 + ], + [ + 0.02015848457813263, + 0.11303422600030899, + 0.9933865666389465, + 0.03221050196423613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9994140863418579, + -0.02974054217338562, + -0.01694188266992569, + 0.039072046441764666 + ], + [ + 0.027649175375699997, + 0.9932593703269958, + -0.11256711930036545, + -0.03379051965372316 + ], + [ + 0.020175490528345108, + 0.11203273385763168, + 0.9934996962547302, + 0.03396742326881865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9993823766708374, + -0.03083888441324234, + -0.01684635877609253, + 0.03934833262886467 + ], + [ + 0.028758905827999115, + 0.9932693243026733, + -0.11220064759254456, + -0.03365393897582745 + ], + [ + 0.02019311487674713, + 0.1116468757390976, + 0.9935427308082581, + 0.03486024980144254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9993746876716614, + -0.031035033985972404, + -0.016942311078310013, + 0.03930447245064866 + ], + [ + 0.028972575441002846, + 0.9934248924255371, + -0.11075911670923233, + -0.0341108973683982 + ], + [ + 0.02026832476258278, + 0.11019899696111679, + 0.9937028884887695, + 0.034108611893165726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9993398189544678, + -0.032022200524806976, + -0.017162606120109558, + 0.039828014797691644 + ], + [ + 0.0299526397138834, + 0.9935193061828613, + -0.10964600741863251, + -0.03446422635481275 + ], + [ + 0.020562488585710526, + 0.10905955731868744, + 0.9938225150108337, + 0.0354668899086015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9993187785148621, + -0.03255234658718109, + -0.017386101186275482, + 0.04025645580399653 + ], + [ + 0.03046879917383194, + 0.9935743808746338, + -0.10900276154279709, + -0.03452357141108349 + ], + [ + 0.020822681486606598, + 0.10839877277612686, + 0.9938893914222717, + 0.036184319433081764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9993188381195068, + -0.03254960477352142, + -0.01739010587334633, + 0.040433602407574654 + ], + [ + 0.030484065413475037, + 0.9936700463294983, + -0.10812289267778397, + -0.03460796023237294 + ], + [ + 0.020799383521080017, + 0.10751912742853165, + 0.9939854145050049, + 0.035595764727171124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9993202090263367, + -0.03251821920275688, + -0.01737022027373314, + 0.040600674013318176 + ], + [ + 0.030467750504612923, + 0.9937368035316467, + -0.10751239955425262, + -0.0346474113906252 + ], + [ + 0.020757537335157394, + 0.10691007971763611, + 0.994051992893219, + 0.03635148212056735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9992964267730713, + -0.03302282094955444, + -0.01778179034590721, + 0.04113648389947826 + ], + [ + 0.03094618022441864, + 0.9938263297080994, + -0.10654386878013611, + -0.034917910602586026 + ], + [ + 0.02119038999080658, + 0.10591863095760345, + 0.9941489696502686, + 0.03708097549348042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992730021476746, + -0.03359708935022354, + -0.01801900379359722, + 0.04151099751671326 + ], + [ + 0.03151218593120575, + 0.9939073920249939, + -0.10561734437942505, + -0.03517659298818687 + ], + [ + 0.021457655355334282, + 0.10497274994850159, + 0.9942435622215271, + 0.037596560282440024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992691278457642, + -0.033543143421411514, + -0.018331732600927353, + 0.041979528086838025 + ], + [ + 0.031442683190107346, + 0.9939918518066406, + -0.10484059900045395, + -0.035315687697509236 + ], + [ + 0.02173827588558197, + 0.10418757051229477, + 0.9943200945854187, + 0.03801740283981479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992501735687256, + -0.03390953317284584, + -0.018688533455133438, + 0.04257137496184943 + ], + [ + 0.03178578242659569, + 0.9940557479858398, + -0.10412892699241638, + -0.035439963484632554 + ], + [ + 0.022108405828475952, + 0.10345681011676788, + 0.994388222694397, + 0.03907964503842181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992337822914124, + -0.03422345221042633, + -0.01899101957678795, + 0.04301804155111313 + ], + [ + 0.03208186477422714, + 0.9941161274909973, + -0.10345974564552307, + -0.03555012196302414 + ], + [ + 0.02242003008723259, + 0.10277120769023895, + 0.9944522976875305, + 0.03981154337525368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992116689682007, + -0.03475945442914963, + -0.019179224967956543, + 0.04339519761310055 + ], + [ + 0.032605476677417755, + 0.9941433072090149, + -0.10303380340337753, + -0.03550462838390778 + ], + [ + 0.022648297250270844, + 0.10232723504304886, + 0.9944929480552673, + 0.04062751928858202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992060661315918, + -0.034887686371803284, + -0.0192362442612648, + 0.04361111687432075 + ], + [ + 0.032738931477069855, + 0.9941919445991516, + -0.10252086073160172, + -0.03548168303637669 + ], + [ + 0.022701233625411987, + 0.10180968791246414, + 0.9945448637008667, + 0.04126256803885616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9991850256919861, + -0.035423412919044495, + -0.01935235783457756, + 0.0439174063824888 + ], + [ + 0.033270396292209625, + 0.9942201972007751, + -0.10207504034042358, + -0.035452201371562894 + ], + [ + 0.022856350988149643, + 0.10134798288345337, + 0.9945884346961975, + 0.042297508516188326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991856217384338, + -0.03537817299365997, + -0.01940179243683815, + 0.0441177803380736 + ], + [ + 0.03323334455490112, + 0.994279146194458, + -0.10151105374097824, + -0.035515014724484796 + ], + [ + 0.022882074117660522, + 0.10078359395265579, + 0.9946451783180237, + 0.04304267889980612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9991663098335266, + -0.035781413316726685, + -0.019656049087643623, + 0.04433831784488826 + ], + [ + 0.03362109512090683, + 0.9943191409111023, + -0.10099054872989655, + -0.03557863171244489 + ], + [ + 0.02315797097980976, + 0.10024549067020416, + 0.9946932196617126, + 0.043346925420237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9991557598114014, + -0.03594218194484711, + -0.019897641614079475, + 0.044561475785128 + ], + [ + 0.033770665526390076, + 0.9943735003471375, + -0.10040367394685745, + -0.035638620164887655 + ], + [ + 0.02339441515505314, + 0.09964694827795029, + 0.9947478175163269, + 0.04356843070608789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9991369247436523, + -0.03640097379684448, + -0.02000807598233223, + 0.04475463551693949 + ], + [ + 0.03422035276889801, + 0.9943755865097046, + -0.10023067891597748, + -0.03566107765353959 + ], + [ + 0.023544035851955414, + 0.09945948421955109, + 0.9947630167007446, + 0.04454506290755395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9991523027420044, + -0.0359712690114975, + -0.02001725696027279, + 0.04477762942170275 + ], + [ + 0.033802397549152374, + 0.9944350719451904, + -0.0997813418507576, + -0.03561982517612392 + ], + [ + 0.023495124652981758, + 0.09902013093233109, + 0.99480801820755, + 0.04436405615816856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9991254806518555, + -0.03667992725968361, + -0.02007204294204712, + 0.04490559515222136 + ], + [ + 0.03450457379221916, + 0.9944206476211548, + -0.09968475997447968, + -0.03577212090122289 + ], + [ + 0.023616481572389603, + 0.09890501201152802, + 0.9948166012763977, + 0.04507323646725252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9991069436073303, + -0.03713474050164223, + -0.020157169550657272, + 0.04505494319480555 + ], + [ + 0.034951452165842056, + 0.9944160580635071, + -0.09957470744848251, + -0.03584904639885343 + ], + [ + 0.023742295801639557, + 0.09878126531839371, + 0.9948258996009827, + 0.04559385963426582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9990937113761902, + -0.037453677505254745, + -0.02022460289299488, + 0.04513824328876518 + ], + [ + 0.03526526317000389, + 0.994417667388916, + -0.09944801032543182, + -0.03589649729687591 + ], + [ + 0.023836394771933556, + 0.09864465892314911, + 0.99483722448349, + 0.045997901318659044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990951418876648, + -0.03745453432202339, + -0.020151620730757713, + 0.0451106416254208 + ], + [ + 0.035267751663923264, + 0.9943942427635193, + -0.09968112409114838, + -0.03577242236712883 + ], + [ + 0.023772163316607475, + 0.09888021647930145, + 0.9948153495788574, + 0.046175285993978896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990705847740173, + -0.038012199103832245, + -0.020324114710092545, + 0.045303912130023896 + ], + [ + 0.035809703171253204, + 0.9943913817405701, + -0.09951623529195786, + -0.03604178462049057 + ], + [ + 0.023992955684661865, + 0.09869594126939774, + 0.9948283433914185, + 0.046405026319854215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9990582466125488, + -0.0383051373064518, + -0.020380692556500435, + 0.04535410121275947 + ], + [ + 0.03607955947518349, + 0.9943147301673889, + -0.10018210113048553, + -0.03593528219338121 + ], + [ + 0.024102313444018364, + 0.09935241937637329, + 0.9947603344917297, + 0.047293523390745294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990628957748413, + -0.03826892375946045, + -0.020218754187226295, + 0.04526304322583922 + ], + [ + 0.036053724586963654, + 0.9942909479141235, + -0.1004270389676094, + -0.03605927234065943 + ], + [ + 0.02394655905663967, + 0.09960397332906723, + 0.9947389960289001, + 0.047436829556807364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9990400075912476, + -0.03877970948815346, + -0.02037673071026802, + 0.04526400747869549 + ], + [ + 0.03653527423739433, + 0.9942273497581482, + -0.10088193416595459, + -0.036084958088809044 + ], + [ + 0.02417127415537834, + 0.10004061460494995, + 0.9946897029876709, + 0.04872725713869621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990288615226746, + -0.03914972394704819, + -0.020213237032294273, + 0.045157139828621316 + ], + [ + 0.036917321383953094, + 0.9942024946212769, + -0.10098754614591599, + -0.03632046898891186 + ], + [ + 0.024049686267971992, + 0.10014326125383377, + 0.9946823120117188, + 0.04828745978723826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990192651748657, + -0.03940317779779434, + -0.020196983590722084, + 0.04519647337367822 + ], + [ + 0.03715217858552933, + 0.9941136837005615, + -0.10177259892225266, + -0.03628690720632158 + ], + [ + 0.024088261649012566, + 0.10092242807149887, + 0.994602620601654, + 0.04917707636567025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990242719650269, + -0.03934131935238838, + -0.02006823755800724, + 0.045136444407097735 + ], + [ + 0.03709928318858147, + 0.9940972328186035, + -0.10195259004831314, + -0.03658361578809804 + ], + [ + 0.02396073006093502, + 0.1011086031794548, + 0.9945868253707886, + 0.04952373813259704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990111589431763, + -0.03967992961406708, + -0.020055003464221954, + 0.045099656001247206 + ], + [ + 0.03742741793394089, + 0.9940416812896729, + -0.1023733913898468, + -0.03669433213513473 + ], + [ + 0.023997679352760315, + 0.1015215516090393, + 0.9945438504219055, + 0.049891941609053775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9989948868751526, + -0.04009319096803665, + -0.02004382759332657, + 0.04512130735955876 + ], + [ + 0.03782960772514343, + 0.9939831495285034, + -0.1027931347489357, + -0.03683846469583182 + ], + [ + 0.02404453232884407, + 0.10193156450986862, + 0.9945008158683777, + 0.05060045045704163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989892244338989, + -0.04025326669216156, + -0.02000640332698822, + 0.045140839226800816 + ], + [ + 0.03799070417881012, + 0.9939684271812439, + -0.10287581384181976, + -0.037036897190685925 + ], + [ + 0.024026822298765182, + 0.1020117700099945, + 0.9944930076599121, + 0.05066572368658822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989835619926453, + -0.040415700525045395, + -0.01996115781366825, + 0.04514900535056046 + ], + [ + 0.038152869790792465, + 0.9939447641372681, + -0.10304436087608337, + -0.037132784364552335 + ], + [ + 0.024004897102713585, + 0.10217805206775665, + 0.9944764375686646, + 0.05127110786350637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9989630579948425, + -0.04086620360612869, + -0.020070161670446396, + 0.045178882713461745 + ], + [ + 0.03858232498168945, + 0.9938955307006836, + -0.10335871577262878, + -0.03708167785200579 + ], + [ + 0.02417152374982834, + 0.10247717797756195, + 0.9944416284561157, + 0.05109225277756822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989458322525024, + -0.0412178598344326, + -0.020206008106470108, + 0.04526110180525173 + ], + [ + 0.03891115263104439, + 0.993852436542511, + -0.10364942252635956, + -0.03696685857300101 + ], + [ + 0.0243539996445179, + 0.10275392234325409, + 0.9944086074829102, + 0.05176718609471773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9989267587661743, + -0.04159661382436752, + -0.020371876657009125, + 0.04533391977050181 + ], + [ + 0.03926747292280197, + 0.9938238859176636, + -0.10378898680210114, + -0.03700235855990443 + ], + [ + 0.024563327431678772, + 0.1028776466846466, + 0.9943906664848328, + 0.05218711921880985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9989067912101746, + -0.04201365262269974, + -0.020496545359492302, + 0.04537928569740776 + ], + [ + 0.03966214507818222, + 0.9937770366668701, + -0.10408678650856018, + -0.036860688852852784 + ], + [ + 0.024742061272263527, + 0.10316005349159241, + 0.9943569898605347, + 0.05258271934400345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9988970756530762, + -0.04217497259378433, + -0.020636703819036484, + 0.04554367522741186 + ], + [ + 0.039808861911296844, + 0.9937740564346313, + -0.10405923426151276, + -0.03685990186600849 + ], + [ + 0.02489691600203514, + 0.10312294960021973, + 0.9943569898605347, + 0.05302771242528126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9988951086997986, + -0.04213690757751465, + -0.020809760317206383, + 0.04574251174926758 + ], + [ + 0.03975015878677368, + 0.9937640428543091, + -0.10417746752500534, + -0.03664392977952957 + ], + [ + 0.02506970800459385, + 0.10323517769575119, + 0.9943410158157349, + 0.053597796242684126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988815188407898, + -0.042374029755592346, + -0.020978987216949463, + 0.04588179240195916 + ], + [ + 0.039969220757484436, + 0.9937579035758972, + -0.10415220260620117, + -0.03658234441074831 + ], + [ + 0.02526138350367546, + 0.10319720208644867, + 0.9943400621414185, + 0.054122593908988194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9988719820976257, + -0.04256610572338104, + -0.021045230329036713, + 0.046024143817866674 + ], + [ + 0.04015485942363739, + 0.993756115436554, + -0.10409791767597198, + -0.03655064858753106 + ], + [ + 0.025344867259263992, + 0.10313542187213898, + 0.9943443536758423, + 0.0543197907700107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9988606572151184, + -0.04282836243510246, + -0.02104940265417099, + 0.046149685805470776 + ], + [ + 0.040410760790109634, + 0.993726909160614, + -0.10427750647068024, + -0.03638071443500189 + ], + [ + 0.025383394211530685, + 0.10330808162689209, + 0.9943254590034485, + 0.054527527710487106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9988529682159424, + -0.042983848601579666, + -0.021097654476761818, + 0.046285528366871435 + ], + [ + 0.04056333377957344, + 0.9937324523925781, + -0.10416514426469803, + -0.03640260172301325 + ], + [ + 0.02544284425675869, + 0.1031898781657219, + 0.9943361878395081, + 0.054917146223757804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9988267421722412, + -0.043472401797771454, + -0.02133616991341114, + 0.04653840611592449 + ], + [ + 0.04102405160665512, + 0.9937106966972351, + -0.10419251024723053, + -0.036373216016539214 + ], + [ + 0.02573147974908352, + 0.10319496691226959, + 0.9943282604217529, + 0.05498977410125321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.99881911277771, + -0.04357590153813362, + -0.021481972187757492, + 0.04676286133231017 + ], + [ + 0.04111025109887123, + 0.9937002062797546, + -0.10425850003957748, + -0.036245982631527146 + ], + [ + 0.025889798998832703, + 0.10325225442647934, + 0.9943181872367859, + 0.05527391340262417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9988041520118713, + -0.0438133180141449, + -0.02169468067586422, + 0.04718984879296401 + ], + [ + 0.04132340848445892, + 0.993687093257904, + -0.10429925471544266, + -0.036099022164426994 + ], + [ + 0.026127422228455544, + 0.1032780334353447, + 0.9943093061447144, + 0.05615660668960933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9987754225730896, + -0.044379111379384995, + -0.02186674438416958, + 0.04739153759136539 + ], + [ + 0.041867051273584366, + 0.9936584830284119, + -0.10435483604669571, + -0.035923911091582536 + ], + [ + 0.026359250769019127, + 0.10331154614686966, + 0.9942997097969055, + 0.05629519884763606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9987874031066895, + -0.04414796456694603, + -0.02178851328790188, + 0.047485250327736137 + ], + [ + 0.04164156690239906, + 0.9936535954475403, + -0.10449159890413284, + -0.03566830363766901 + ], + [ + 0.026263324543833733, + 0.10345757752656937, + 0.9942870736122131, + 0.05619474909557351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9987874031066895, + -0.04412344470620155, + -0.02183621935546398, + 0.047597573821208085 + ], + [ + 0.04161395505070686, + 0.993661642074585, + -0.10442637652158737, + -0.035558798960570626 + ], + [ + 0.026305465027689934, + 0.10339105874300003, + 0.9942928552627563, + 0.056531137545946346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9987793564796448, + -0.04426245763897896, + -0.021922195330262184, + 0.04773255420270665 + ], + [ + 0.04174293950200081, + 0.9936545491218567, + -0.10444217920303345, + -0.03536630750730119 + ], + [ + 0.026405954733490944, + 0.1033996045589447, + 0.9942893385887146, + 0.05659580153637919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987708330154419, + -0.04444509372115135, + -0.02194223739206791, + 0.047826330590158186 + ], + [ + 0.04192255064845085, + 0.9936469197273254, + -0.10444293916225433, + -0.03515295959238349 + ], + [ + 0.0264448132365942, + 0.10339468717575073, + 0.9942888021469116, + 0.056839605086836324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.998773992061615, + -0.04435589164495468, + -0.021977895870804787, + 0.04794360727457137 + ], + [ + 0.041828401386737823, + 0.993644118309021, + -0.10450726747512817, + -0.03489124810901181 + ], + [ + 0.026473717764019966, + 0.10345984995365143, + 0.9942812323570251, + 0.05722214971379987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9987632036209106, + -0.04456457495689392, + -0.02204696089029312, + 0.048056042643970454 + ], + [ + 0.042025960981845856, + 0.9936243295669556, + -0.1046159565448761, + -0.03458248310048005 + ], + [ + 0.026568561792373657, + 0.10356001555919647, + 0.9942682981491089, + 0.05767849245076549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9987586736679077, + -0.04462936893105507, + -0.02212006412446499, + 0.048137742512185 + ], + [ + 0.0420815609395504, + 0.9936169385910034, + -0.10466388612985611, + -0.03430214601344074 + ], + [ + 0.026649953797459602, + 0.10360311716794968, + 0.994261622428894, + 0.05785299002610404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9987489581108093, + -0.0448063500225544, + -0.022200284525752068, + 0.0482346681219622 + ], + [ + 0.04224804416298866, + 0.9936048984527588, + -0.10471120476722717, + -0.03402347903827141 + ], + [ + 0.02675003744661808, + 0.1036422848701477, + 0.9942548274993896, + 0.058065633424397176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9987454414367676, + -0.044881246984004974, + -0.022208916023373604, + 0.048213232058132514 + ], + [ + 0.04232286661863327, + 0.993606448173523, + -0.1046663448214531, + -0.03375366355838447 + ], + [ + 0.02676447667181492, + 0.10359508544206619, + 0.9942593574523926, + 0.058254074286027205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9987375140190125, + -0.04504458233714104, + -0.02223343588411808, + 0.048245699933312576 + ], + [ + 0.042481373995542526, + 0.9935939908027649, + -0.10471995174884796, + -0.03342767745770257 + ], + [ + 0.02680807374417782, + 0.10364323854446411, + 0.9942532181739807, + 0.05844559379178902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9987309575080872, + -0.045176804065704346, + -0.022261744365096092, + 0.048239494089422554 + ], + [ + 0.042609818279743195, + 0.9935879111289978, + -0.10472586750984192, + -0.03309687776812191 + ], + [ + 0.026850180700421333, + 0.10364440083503723, + 0.9942519068717957, + 0.058636582308802115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9987238645553589, + -0.045318204909563065, + -0.02229263260960579, + 0.048255733720123255 + ], + [ + 0.042749177664518356, + 0.9935892820358276, + -0.10465600341558456, + -0.032854692175470546 + ], + [ + 0.026892542839050293, + 0.10356945544481277, + 0.9942585825920105, + 0.05888749686358818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9987165331840515, + -0.04547214135527611, + -0.022306744009256363, + 0.04824332403147529 + ], + [ + 0.04290221258997917, + 0.9935879111289978, + -0.10460609197616577, + -0.03256944351155182 + ], + [ + 0.026920374482870102, + 0.10351482033729553, + 0.9942635297775269, + 0.05885566842967066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9987132549285889, + -0.045533884316682816, + -0.022326400503516197, + 0.04824624691832939 + ], + [ + 0.04296421632170677, + 0.9935954213142395, + -0.10450954735279083, + -0.03231098233111973 + ], + [ + 0.026942135766148567, + 0.1034158319234848, + 0.9942732453346252, + 0.059312644016383025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9987145066261292, + -0.04553099349141121, + -0.022278113290667534, + 0.048204570970144765 + ], + [ + 0.04296807572245598, + 0.9936019778251648, + -0.10444550216197968, + -0.032007887702563714 + ], + [ + 0.026891084387898445, + 0.10335399210453033, + 0.9942810535430908, + 0.05973379051890867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9987059831619263, + -0.045690033584833145, + -0.022333668544888496, + 0.0482426171656698 + ], + [ + 0.043127212673425674, + 0.9936208724975586, + -0.10419981181621552, + -0.03183656113928761 + ], + [ + 0.026952093467116356, + 0.10310178995132446, + 0.9943056106567383, + 0.05991193007292419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9986954927444458, + -0.04587076976895332, + -0.022431813180446625, + 0.04834322006730684 + ], + [ + 0.04330439493060112, + 0.9936419725418091, + -0.10392478853464127, + -0.031665608029941034 + ], + [ + 0.027056299149990082, + 0.1028178259730339, + 0.9943321347236633, + 0.060270179544800316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9986888766288757, + -0.04598519206047058, + -0.022491438314318657, + 0.048386633177769596 + ], + [ + 0.0434190034866333, + 0.9936633706092834, + -0.10367180407047272, + -0.031474729164921014 + ], + [ + 0.027116285637021065, + 0.10255932807922363, + 0.9943572282791138, + 0.060373019940894224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.99868243932724, + -0.04614022746682167, + -0.022459613159298897, + 0.04841880809258798 + ], + [ + 0.04357486590743065, + 0.9936501979827881, + -0.1037326529622078, + -0.03118054445447592 + ], + [ + 0.027103247120976448, + 0.1026173010468483, + 0.9943516254425049, + 0.06213779186123404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9986789226531982, + -0.04624173417687416, + -0.02240712195634842, + 0.048447818763489865 + ], + [ + 0.04368535801768303, + 0.993661105632782, + -0.10358160734176636, + -0.030860703798203618 + ], + [ + 0.027054879814386368, + 0.1024659126996994, + 0.9943685531616211, + 0.06230617123816548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9986782670021057, + -0.04625086113810539, + -0.022417010739445686, + 0.04843651568517089 + ], + [ + 0.0436965636909008, + 0.9936726689338684, + -0.10346636176109314, + -0.030583131313323964 + ], + [ + 0.027060577645897865, + 0.10235005617141724, + 0.9943802952766418, + 0.06236628368496895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9986692667007446, + -0.04635722190141678, + -0.02259794808924198, + 0.04864821989281938 + ], + [ + 0.0437970906496048, + 0.9937183856964111, + -0.10298346728086472, + -0.03054217351921673 + ], + [ + 0.027230022475123405, + 0.10185670107603073, + 0.9944263100624084, + 0.06273291473565944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9986540079116821, + -0.04663711413741112, + -0.022696848958730698, + 0.04879575441109723 + ], + [ + 0.04407418146729469, + 0.9937387108802795, + -0.10266833752393723, + -0.0303791770647312 + ], + [ + 0.027342893183231354, + 0.1015297994017601, + 0.9944566488265991, + 0.06302267256481894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9986473917961121, + -0.046700503677129745, + -0.02285754308104515, + 0.04900408997521575 + ], + [ + 0.044131938368082047, + 0.9937772154808044, + -0.10227049887180328, + -0.030252967800559666 + ], + [ + 0.027491390705108643, + 0.10112342238426208, + 0.9944939613342285, + 0.06323435842220125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9986510872840881, + -0.046589843928813934, + -0.022920595481991768, + 0.0491980941966176 + ], + [ + 0.04402964562177658, + 0.9938344359397888, + -0.10175717622041702, + -0.030141837124166806 + ], + [ + 0.02752012573182583, + 0.10061072558164597, + 0.9945451617240906, + 0.06339386508254141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9986395239830017, + -0.04677765071392059, + -0.0230429545044899, + 0.04939960864982728 + ], + [ + 0.04421137273311615, + 0.9938526153564453, + -0.10150023549795151, + -0.029943286344922826 + ], + [ + 0.02764924243092537, + 0.10034338384866714, + 0.9945685863494873, + 0.06369458986446261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9986354112625122, + -0.04677773267030716, + -0.023219794034957886, + 0.049722538747150324 + ], + [ + 0.04419765621423721, + 0.9938676953315735, + -0.10135886818170547, + -0.029684394598007202 + ], + [ + 0.027818739414215088, + 0.1001942977309227, + 0.9945788979530334, + 0.06422649882733822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.998624861240387, + -0.046944182366132736, + -0.023338161408901215, + 0.05014457948152618 + ], + [ + 0.04435764625668526, + 0.9938830137252808, + -0.1011381670832634, + -0.029487303618727062 + ], + [ + 0.02794324979186058, + 0.09996386617422104, + 0.9945986270904541, + 0.06482913211180732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9986186027526855, + -0.046967461705207825, + -0.02355622500181198, + 0.05057005644615354 + ], + [ + 0.04436425119638443, + 0.9939015507698059, + -0.1009528860449791, + -0.029231444977480786 + ], + [ + 0.028154071420431137, + 0.09976837784051895, + 0.9946122765541077, + 0.06504709385977737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.998611330986023, + -0.047089166939258575, + -0.02362210676074028, + 0.05082485753207885 + ], + [ + 0.04448183625936508, + 0.9939071536064148, + -0.10084590315818787, + -0.028947481179031828 + ], + [ + 0.028226930648088455, + 0.09965510666370392, + 0.9946215748786926, + 0.0655847400105719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9986125230789185, + -0.04690170660614967, + -0.023944055661559105, + 0.05110807096392944 + ], + [ + 0.04427405074238777, + 0.9939549565315247, + -0.10046589374542236, + -0.028836871066997782 + ], + [ + 0.028511332347989082, + 0.09926639497280121, + 0.9946523308753967, + 0.06540184326726815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986092448234558, + -0.04703083261847496, + -0.023827020078897476, + 0.051112929656138194 + ], + [ + 0.044416751712560654, + 0.9939575791358948, + -0.10037669539451599, + -0.028555486351251602 + ], + [ + 0.02840384840965271, + 0.09917877614498138, + 0.9946641325950623, + 0.06607798008440897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985964894294739, + -0.047270696610212326, + -0.023886531591415405, + 0.05110410876122528 + ], + [ + 0.04465645179152489, + 0.993971049785614, + -0.10013695806264877, + -0.028437328698306244 + ], + [ + 0.028476063162088394, + 0.09892972558736801, + 0.9946869015693665, + 0.06635920831227098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.998587965965271, + -0.0473465733230114, + -0.02409055270254612, + 0.05120003802605487 + ], + [ + 0.04472041502594948, + 0.9939982891082764, + -0.09983757138252258, + -0.028368855139304844 + ], + [ + 0.02867293544113636, + 0.0986192524433136, + 0.9947120547294617, + 0.06689898426933535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9985603094100952, + -0.047855034470558167, + -0.024232305586338043, + 0.05124499651378599 + ], + [ + 0.0452195480465889, + 0.9939998388290405, + -0.09959658235311508, + -0.028279611262781876 + ], + [ + 0.02885310724377632, + 0.0983574166893959, + 0.9947327971458435, + 0.06716017608755621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9985609650611877, + -0.047803618013858795, + -0.024305498227477074, + 0.0514475305757389 + ], + [ + 0.04516682028770447, + 0.9940217733383179, + -0.09940186887979507, + -0.02804855252134389 + ], + [ + 0.028911961242556572, + 0.09816103428602219, + 0.9947504997253418, + 0.06754768042150756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9985492825508118, + -0.047988079488277435, + -0.024422751739621162, + 0.05177820483543749 + ], + [ + 0.04534154385328293, + 0.9940227270126343, + -0.09931230545043945, + -0.02779573125058206 + ], + [ + 0.029042577371001244, + 0.09806086122989655, + 0.9947565793991089, + 0.06808092040491515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9985119700431824, + -0.048536572605371475, + -0.024861671030521393, + 0.052693482734070256 + ], + [ + 0.04584040120244026, + 0.9939860701560974, + -0.0994500070810318, + -0.027396561796295224 + ], + [ + 0.029539119452238083, + 0.09816235303878784, + 0.9947319030761719, + 0.06863452483867777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9984845519065857, + -0.04886570945382118, + -0.025313513353466988, + 0.053660531547562826 + ], + [ + 0.04612278565764427, + 0.9939700961112976, + -0.09947911649942398, + -0.027091906707862323 + ], + [ + 0.030021993443369865, + 0.09816082566976547, + 0.9947175979614258, + 0.06911036338785599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9984577894210815, + -0.04911859706044197, + -0.02587237022817135, + 0.054621234553833976 + ], + [ + 0.04632163420319557, + 0.9939673542976379, + -0.09941424429416656, + -0.026896582209858397 + ], + [ + 0.030599379912018776, + 0.09806247055530548, + 0.9947097301483154, + 0.06933445196341852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9984436631202698, + -0.049216825515031815, + -0.026228822767734528, + 0.05536274548684215 + ], + [ + 0.046389054507017136, + 0.9939790368080139, + -0.0992661789059639, + -0.026740622314913517 + ], + [ + 0.030956465750932693, + 0.09789495915174484, + 0.99471515417099, + 0.06944974308255418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9984411597251892, + -0.049315646290779114, + -0.02613748423755169, + 0.05512644186744402 + ], + [ + 0.04650226980447769, + 0.9939926862716675, + -0.09907641261816025, + -0.026681188108592185 + ], + [ + 0.030866483226418495, + 0.09770651906728745, + 0.9947364926338196, + 0.06947823506298251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9984462857246399, + -0.049287911504507065, + -0.02599506638944149, + 0.05477842491377016 + ], + [ + 0.046494368463754654, + 0.9940117001533508, + -0.09888916462659836, + -0.02664709774584606 + ], + [ + 0.030713440850377083, + 0.0975269004702568, + 0.9947588443756104, + 0.06946612677440561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9984588027000427, + -0.0492742694914341, + -0.025535879656672478, + 0.053737810143301715 + ], + [ + 0.04653261974453926, + 0.9940328001976013, + -0.09865867346525192, + -0.02661349185068032 + ], + [ + 0.03024483658373356, + 0.0973183736205101, + 0.9947936534881592, + 0.0690037855011379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9984645247459412, + -0.04935423284769058, + -0.025155065581202507, + 0.053011359152351986 + ], + [ + 0.04665325582027435, + 0.9940401315689087, + -0.09852765500545502, + -0.02649688854299742 + ], + [ + 0.029867900535464287, + 0.09720280766487122, + 0.9948163032531738, + 0.06903210385092373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9984716773033142, + -0.04950284585356712, + -0.024571493268013, + 0.05173596360656465 + ], + [ + 0.04686414822936058, + 0.9940509796142578, + -0.09831811487674713, + -0.026565072043188684 + ], + [ + 0.029292341321706772, + 0.0970163345336914, + 0.9948516488075256, + 0.0689586942052019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9984613060951233, + -0.04979200288653374, + -0.024409063160419464, + 0.05136891409497837 + ], + [ + 0.047165077179670334, + 0.9940275549888611, + -0.09841082245111465, + -0.026383536642995364 + ], + [ + 0.029163353145122528, + 0.0971081480383873, + 0.9948464632034302, + 0.0694575773487831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9984527826309204, + -0.05003494396805763, + -0.02425900287926197, + 0.050932253497363675 + ], + [ + 0.047420259565114975, + 0.9940111041069031, + -0.09845402836799622, + -0.02623829016911572 + ], + [ + 0.029039861634373665, + 0.09715133905410767, + 0.9948458671569824, + 0.06971391596156976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9984652996063232, + -0.049824610352516174, + -0.02417745627462864, + 0.05067497269603713 + ], + [ + 0.0472165122628212, + 0.9940130710601807, + -0.0985325425863266, + -0.026098301338738403 + ], + [ + 0.02894205041229725, + 0.09723974764347076, + 0.9948400855064392, + 0.06986222800252767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9984505772590637, + -0.05012275278568268, + -0.02416939102113247, + 0.050437613017857076 + ], + [ + 0.047502852976322174, + 0.9939610362052917, + -0.09891904145479202, + -0.02585152313113212 + ], + [ + 0.02898152731359005, + 0.09761766344308853, + 0.994801938533783, + 0.06950636086985469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9984495639801025, + -0.05025438591837883, + -0.023937011137604713, + 0.04989308177268711 + ], + [ + 0.04765205457806587, + 0.9939382672309875, + -0.09907589852809906, + -0.025859663763950602 + ], + [ + 0.02877091057598591, + 0.09778164327144623, + 0.9947919249534607, + 0.0690934139079061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9984416365623474, + -0.05044310912489891, + -0.023871056735515594, + 0.04970744272276502 + ], + [ + 0.04782729223370552, + 0.9938637614250183, + -0.09973657131195068, + -0.025471882188114636 + ], + [ + 0.02875560149550438, + 0.09843945503234863, + 0.9947274923324585, + 0.06907510706062975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9984403252601624, + -0.05061820149421692, + -0.023552818223834038, + 0.04888423969005716 + ], + [ + 0.048017434775829315, + 0.9938001036643982, + -0.10027801245450974, + -0.025457168601710226 + ], + [ + 0.02848268486559391, + 0.09899067133665085, + 0.994680643081665, + 0.0686315415555547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9984427094459534, + -0.050787754356861115, + -0.023082679137587547, + 0.047949483428664244 + ], + [ + 0.04822004586458206, + 0.9937446117401123, + -0.1007295548915863, + -0.02538957508473559 + ], + [ + 0.028054116293787956, + 0.09945963323116302, + 0.9946460127830505, + 0.06775279318078839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9984651207923889, + -0.05049314722418785, + -0.022756295278668404, + 0.047422257271306265 + ], + [ + 0.04794151708483696, + 0.9936931729316711, + -0.10136803984642029, + -0.025052737316180906 + ], + [ + 0.027731167152523994, + 0.10012148320674896, + 0.9945886731147766, + 0.06691915318369865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9984723925590515, + -0.050526585429906845, + -0.022360336035490036, + 0.04676815619660092 + ], + [ + 0.04800430312752724, + 0.9936524033546448, + -0.10173764079809189, + -0.025054237477738286 + ], + [ + 0.027358856052160263, + 0.10050883144140244, + 0.9945599436759949, + 0.06629318719215949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9984675049781799, + -0.0506790429353714, + -0.022232316434383392, + 0.04650996901608746 + ], + [ + 0.048154428601264954, + 0.9935908913612366, + -0.10226572304964066, + -0.024948029939470623 + ], + [ + 0.027272555977106094, + 0.10103841871023178, + 0.9945086240768433, + 0.06625069392010055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.99843829870224, + -0.051245544105768204, + -0.022246109321713448, + 0.046205142559483645 + ], + [ + 0.048697929829359055, + 0.9934936761856079, + -0.10295046120882034, + -0.024877242024602564 + ], + [ + 0.02737712301313877, + 0.10170634835958481, + 0.9944376945495605, + 0.06581621445265823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9984645247459412, + -0.050838541239500046, + -0.022001244127750397, + 0.04599473888118719 + ], + [ + 0.048300985246896744, + 0.9934486746788025, + -0.10356978327035904, + -0.024590602311594725 + ], + [ + 0.027122441679239273, + 0.10234806686639786, + 0.9943788051605225, + 0.06612453783123658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9984509944915771, + -0.05114513635635376, + -0.02190355770289898, + 0.04587340113417856 + ], + [ + 0.04860585182905197, + 0.9933947324752808, + -0.10394413024187088, + -0.024617076074254923 + ], + [ + 0.027075113728642464, + 0.10271847993135452, + 0.9943419098854065, + 0.06630118015575512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9984526038169861, + -0.051187485456466675, + -0.0217323936522007, + 0.04564730825609174 + ], + [ + 0.04864751547574997, + 0.9933226704597473, + -0.104611337184906, + -0.02438734353616319 + ], + [ + 0.026942070573568344, + 0.10339222848415375, + 0.994275689125061, + 0.0666997699259684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9984487295150757, + -0.05134958773851395, + -0.02152441069483757, + 0.04531184142327 + ], + [ + 0.04882065951824188, + 0.9932763576507568, + -0.10496938973665237, + -0.024349463910892086 + ], + [ + 0.02676982432603836, + 0.10375571995973587, + 0.9942424893379211, + 0.06617887155955722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9984191060066223, + -0.051991768181324005, + -0.02135767787694931, + 0.04498717885079055 + ], + [ + 0.049457699060440063, + 0.9931693077087402, + -0.10568168759346008, + -0.02439541328569937 + ], + [ + 0.02670636773109436, + 0.10445831716060638, + 0.994170606136322, + 0.06610235612967919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9984009861946106, + -0.05232340842485428, + -0.021395735442638397, + 0.04515945669584747 + ], + [ + 0.049752794206142426, + 0.9930322766304016, + -0.10682472586631775, + -0.024212300289293803 + ], + [ + 0.0268360897898674, + 0.10558940470218658, + 0.9940476417541504, + 0.06721555727437653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9983974695205688, + -0.05228215456008911, + -0.021657465025782585, + 0.045600592524840916 + ], + [ + 0.04965895414352417, + 0.9929373264312744, + -0.1077471449971199, + -0.024101637766279035 + ], + [ + 0.0271377582103014, + 0.10649899393320084, + 0.993942379951477, + 0.067457631853377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9983941912651062, + -0.05209058150649071, + -0.02226334996521473, + 0.046055998234078285 + ], + [ + 0.04938141629099846, + 0.9928635358810425, + -0.10855156183242798, + -0.024489820671492607 + ], + [ + 0.02775898389518261, + 0.10727785527706146, + 0.9938414692878723, + 0.06561234031386416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9984303116798401, + -0.05137363076210022, + -0.02230861410498619, + 0.046491182569799755 + ], + [ + 0.04862872511148453, + 0.9927635192871094, + -0.109799325466156, + -0.024389978112845573 + ], + [ + 0.027787968516349792, + 0.10854212939739227, + 0.9937033653259277, + 0.0668126205945837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9983713626861572, + -0.05258329585194588, + -0.022126197814941406, + 0.04646061925891915 + ], + [ + 0.04981407895684242, + 0.9925563931465149, + -0.11113237589597702, + -0.02443798495263888 + ], + [ + 0.027805205434560776, + 0.10984919220209122, + 0.9935593008995056, + 0.06651691632859152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9983360767364502, + -0.0532681867480278, + -0.02208102121949196, + 0.04652262077634704 + ], + [ + 0.05047106742858887, + 0.9924073815345764, + -0.11216195672750473, + -0.024711279365523114 + ], + [ + 0.02788802981376648, + 0.11086087673902512, + 0.993444561958313, + 0.06735363785691302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9983943104743958, + -0.05227908119559288, + -0.021809376776218414, + 0.04672351714448425 + ], + [ + 0.04948657378554344, + 0.9923282265663147, + -0.11329498142004013, + -0.024617297510648603 + ], + [ + 0.027565017342567444, + 0.11203379184007645, + 0.9933220148086548, + 0.0684323997557934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9983677864074707, + -0.05263994634151459, + -0.02215474843978882, + 0.047162375650529206 + ], + [ + 0.04977482557296753, + 0.9921846389770508, + -0.1144208088517189, + -0.02459844088759916 + ], + [ + 0.028004705905914307, + 0.11313129216432571, + 0.99318528175354, + 0.06818326267188993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9983372092247009, + -0.053240519016981125, + -0.022095633670687675, + 0.046919133650652804 + ], + [ + 0.05036128684878349, + 0.9920850396156311, + -0.11502614617347717, + -0.024659648409177504 + ], + [ + 0.028044799342751503, + 0.11372211575508118, + 0.9931166768074036, + 0.06724260124410021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9983602166175842, + -0.05294486880302429, + -0.021766379475593567, + 0.04650326779690282 + ], + [ + 0.050088636577129364, + 0.9920307993888855, + -0.11561134457588196, + -0.024359483914128663 + ], + [ + 0.027713946998119354, + 0.11433151364326477, + 0.9930559992790222, + 0.06781061692484494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.998369574546814, + -0.052897896617650986, + -0.021446891129016876, + 0.045715278533191 + ], + [ + 0.05006073787808418, + 0.9919569492340088, + -0.1162555143237114, + -0.023940704711552324 + ], + [ + 0.02742406353354454, + 0.11499232798814774, + 0.9929877519607544, + 0.06789151914096597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9983811378479004, + -0.05278794467449188, + -0.021177416667342186, + 0.044936022547812295 + ], + [ + 0.04997536540031433, + 0.9919306635856628, + -0.1165163442492485, + -0.02359577679428561 + ], + [ + 0.027157185599207878, + 0.11526937037706375, + 0.9929629564285278, + 0.06730697549365718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9984092712402344, + -0.052466314285993576, + -0.020645909011363983, + 0.04389981528711987 + ], + [ + 0.04970191791653633, + 0.991877555847168, + -0.11708400398492813, + -0.023035217050848336 + ], + [ + 0.026621177792549133, + 0.1158716157078743, + 0.9929074048995972, + 0.06728764714930079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9984164834022522, + -0.052452825009822845, + -0.020328866317868233, + 0.04313185923443786 + ], + [ + 0.04971984773874283, + 0.9918524026870728, + -0.11728891730308533, + -0.02276475444949906 + ], + [ + 0.026315370574593544, + 0.11609244346618652, + 0.9928897619247437, + 0.06693546422596636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9984073638916016, + -0.052733246237039566, + -0.02004958875477314, + 0.04261598436900511 + ], + [ + 0.05002088472247124, + 0.9917923212051392, + -0.1176687628030777, + -0.0224386858529058 + ], + [ + 0.02609008364379406, + 0.11647845804691315, + 0.9928504824638367, + 0.0668345677377335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9984207153320312, + -0.052698176354169846, + -0.019466642290353775, + 0.04156518764793873 + ], + [ + 0.05003242567181587, + 0.9916918873786926, + -0.11850733309984207, + -0.02212982475757598 + ], + [ + 0.025550030171871185, + 0.11734621971845627, + 0.9927623271942139, + 0.06628892421722413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/pan_left/transforms.json b/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ac44193dcf660ec36c56de5260f813248a49ae4b --- /dev/null +++ b/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/pan_left/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00012795822112821043, + -6.58603894407861e-05, + 1.245094244950451e-05 + ], + [ + -0.0001279363059438765, + 0.9999999403953552, + 0.0003326068399474025, + -0.00020766525994986296 + ], + [ + 6.590293924091384e-05, + -0.00033259839983657, + 0.9999999403953552, + -9.35567295528017e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999988448781831, + -0.0005714510334655643, + -0.0014294017777458229, + 9.813543147174641e-05 + ], + [ + 0.0005621733659470972, + 0.9999788403511047, + -0.006482602650516706, + 0.0006874139653518796 + ], + [ + 0.0014330759922608549, + 0.0064817918464541435, + 0.9999779790930763, + -0.003368882928043604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999995599411398, + -0.000490170088596642, + -0.002919827475235923, + 0.00031141110230237246 + ], + [ + 0.00046021191263580295, + 0.9999473690986633, + -0.010252109052942453, + -0.0009108115918934345 + ], + [ + 0.0029246990120153876, + 0.01025072019547224, + 0.9999431958006606, + -0.003987522330135107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999942117214066, + -0.0005766014801338316, + -0.003349652036613049, + -0.0003096305881626904 + ], + [ + 0.0005260261115191312, + 0.9998861551284792, + -0.015080003881776662, + -0.0014143093721941113 + ], + [ + 0.0033579659330668426, + 0.015078155323863033, + 0.9998806956819926, + -0.005179351195693016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999902104898368, + -0.0006231171428225935, + -0.0043860692596635435, + -0.0005102494033053517 + ], + [ + 0.0005347607137930073, + 0.9997974634170532, + -0.02011720634125722, + -0.0016688131727278233 + ], + [ + 0.004397716417257418, + 0.020114662125706673, + 0.999788036507279, + -0.006680761463940144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999863220211807, + -0.00035439635394141083, + -0.005213619424795182, + -0.0008675864664837718 + ], + [ + 0.00022681710461677063, + 0.9997010231018069, + -0.02445064858201221, + -0.0022052505519241095 + ], + [ + 0.005220725861558374, + 0.024449132382869727, + 0.9996874194786222, + -0.008260457776486874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999807737377694, + -4.837218511966057e-05, + -0.00619853412039303, + -0.0011874351184815168 + ], + [ + -0.00012390951768038913, + 0.9996137619018555, + -0.027790543760703206, + -0.003372705541551113 + ], + [ + 0.006197484332731547, + 0.027790779247879982, + 0.9995945338943661, + -0.00937980692833662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999762376957604, + 0.00038092563045211136, + -0.006882281497760423, + -0.001550183747895062 + ], + [ + -0.0005993469564222056, + 0.999495267868042, + -0.03176263032695759, + -0.004558708984404802 + ], + [ + 0.006866708387487702, + 0.031766001135110855, + 0.9994717320461635, + -0.00991830788552761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999686067237292, + 0.0004218927351757884, + -0.007911978452563681, + -0.0019222501432523131 + ], + [ + -0.0007090369324091276, + 0.999339759349823, + -0.03632472876558342, + -0.005227948538959026 + ], + [ + 0.007891429578908335, + 0.03632919490337372, + 0.9993087035014002, + -0.011009507812559605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999580007400429, + -0.00013516063336282969, + -0.009166363972385358, + -0.0022963627707213163 + ], + [ + -0.00023191665627965712, + 0.999198317527771, + -0.040033235998446555, + -0.006713402923196554 + ], + [ + 0.009164426134754624, + 0.04003368318080902, + 0.999156296602823, + -0.012333687394857407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999502537922903, + -0.0003439329157117754, + -0.009965970121257307, + -0.0024947435595095158 + ], + [ + -0.00010508198404979397, + 0.9989861249923706, + -0.0450192955173919, + -0.007611848413944244 + ], + [ + 0.009971349968365168, + 0.04501810669898987, + 0.9989364323424363, + -0.012358887121081352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999395938656795, + -0.00039302193908952177, + -0.010986244628449281, + -0.002716036979109049 + ], + [ + -0.0001466967413798671, + 0.998794674873352, + -0.04908284263293398, + -0.0089734997600317 + ], + [ + 0.010992293271285371, + 0.04908148571848869, + 0.9987342796173837, + -0.012782684527337551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999316106466462, + 0.0006318144151009619, + -0.011675618480156334, + -0.003031916217878461 + ], + [ + -0.0012459739335971662, + 0.9986112117767334, + -0.05266974232769202, + -0.010432577691972256 + ], + [ + 0.011626126350919648, + 0.052680689841508865, + 0.9985437229756786, + -0.013005738146603107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999198914406384, + 0.0007718809647485616, + -0.012632890257351813, + -0.003073466708883643 + ], + [ + -0.0014961274150280498, + 0.9983488917350771, + -0.05742161780770706, + -0.011162465438246727 + ], + [ + 0.012567709847266025, + 0.057435918599367156, + 0.9982700982494628, + -0.013737659901380539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998989076902182, + 0.0004593953490257263, + -0.01421093253700728, + -0.0024126535281538963 + ], + [ + -0.0013283484505560532, + 0.9981247782707214, + -0.06119797367916048, + -0.01252494752407074 + ], + [ + 0.014156169985661547, + 0.061210665851831436, + 0.9980244959837048, + -0.01422838494181633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998720052624751, + -9.826570021687075e-05, + -0.015999885000715277, + -0.001489407615736127 + ], + [ + -0.0009469894143355887, + 0.9978646636009216, + -0.06530822337177171, + -0.013432472012937069 + ], + [ + 0.015972137114880887, + 0.06531501561403275, + 0.9977368326510009, + -0.01430044136941433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998525719777146, + -0.00035348293022252625, + -0.01716594822468981, + -0.0010047043906524777 + ], + [ + -0.0008419719029317613, + 0.9975757598876955, + -0.06958390747956587, + -0.014218628406524658 + ], + [ + 0.01714893115885797, + 0.0695881098508835, + 0.9974284227972845, + -0.0142919160425663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998130578381503, + -0.001015488407574594, + -0.019307828304500698, + 5.966030585113913e-05 + ], + [ + -0.0003991991584966414, + 0.997322678565979, + -0.07312547503071198, + -0.015241778455674648 + ], + [ + 0.01933039297125911, + 0.07311951369047165, + 0.9971358242299416, + -0.015259782783687115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999794254969621, + -0.0011391675798222423, + -0.020251910409166272, + 0.0007809969247318804 + ], + [ + -0.00040666549437572255, + 0.9970953464508057, + -0.07616271902477682, + -0.01644832454621792 + ], + [ + 0.02027984671935605, + 0.07615528255701065, + 0.9968896865538258, + -0.01406318973749876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997514962107114, + -0.002364876214414835, + -0.022167486260199213, + 0.0022332146763801575 + ], + [ + 0.000591675922047753, + 0.9968219995498657, + -0.07965863396351479, + -0.017396317794919014 + ], + [ + 0.02228542023718442, + 0.07962571829557419, + 0.996575661489888, + -0.014251215383410454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.99972509043296, + -0.002389173489063978, + -0.02332377741792017, + 0.0029562662821263075 + ], + [ + 0.0004546253645537455, + 0.9965828061103821, + -0.08259848726056554, + -0.01850017160177231 + ], + [ + 0.023441417540929137, + 0.08256518095731735, + 0.9963099152582583, + -0.013860838487744331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9996757432137122, + -0.0037803000304847956, + -0.02518278215344361, + 0.004090531263500452 + ], + [ + 0.0016050794345668184, + 0.9963073134422302, + -0.08584364203240448, + -0.01978336088359356 + ], + [ + 0.02541430443913752, + 0.08577538281679153, + 0.9959903046179374, + -0.014089632779359818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9996365716080143, + -0.00390723766759038, + -0.026672688456435046, + 0.0050744363106787205 + ], + [ + 0.0015052971520632, + 0.9959869980812073, + -0.08948509539939212, + -0.020676186308264732 + ], + [ + 0.02691529198889807, + 0.08941242098808289, + 0.9956309759206695, + -0.013121016323566437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995960237092749, + -0.004420956131070852, + -0.028075345765779795, + 0.005838269367814064 + ], + [ + 0.001816571230800881, + 0.9957461953163147, + -0.09212042780331514, + -0.022190608084201813 + ], + [ + 0.028363179444345438, + 0.09203221648931503, + 0.9953519762470312, + -0.013534767553210258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995504226333516, + -0.005529945716261865, + -0.02946915059861622, + 0.0066935098730027676 + ], + [ + 0.0026922325258846385, + 0.9954279661178591, + -0.09547750177389047, + -0.023030506446957588 + ], + [ + 0.029862400316977216, + 0.09535523504018786, + 0.9949952756315926, + -0.013738475739955902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995156630184768, + -0.004856435582041741, + -0.030737741328585613, + 0.007390693761408329 + ], + [ + 0.0018200816741617328, + 0.9951798319816592, + -0.09804970158474358, + -0.02414102293550968 + ], + [ + 0.031065754605149848, + 0.09794626384973529, + 0.9947067404371759, + -0.013932609930634499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994634443743924, + -0.005825874861329794, + -0.03223206705432902, + 0.00820022914558649 + ], + [ + 0.0025469926406230395, + 0.9948986172676086, + -0.10084768163300897, + -0.025354595854878426 + ], + [ + 0.032655164995111195, + 0.10071147233247757, + 0.9943796484747714, + -0.01367635652422905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999420474843914, + -0.005864516366273165, + -0.03353003937881537, + 0.009024633094668388 + ], + [ + 0.0023693671046388625, + 0.9946429133415222, + -0.10334330928202272, + -0.02638869173824787 + ], + [ + 0.03395647491859856, + 0.10320397466421127, + 0.9940804036702358, + -0.013522149063646793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993700020144256, + -0.006560503039509058, + -0.03487897551858086, + 0.009863413870334625 + ], + [ + 0.0028265460851523067, + 0.9943574070930481, + -0.10604437394395082, + -0.02756858617067337 + ], + [ + 0.03537787164974571, + 0.10587897896766663, + 0.9937494933887716, + -0.013994305394589901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9992995396423825, + -0.0074197594076395035, + -0.03667867750280514, + 0.011090166866779327 + ], + [ + 0.003387938731302894, + 0.9940594434738159, + -0.10878571578476862, + -0.02852090820670128 + ], + [ + 0.03726795155755708, + 0.10858525335788727, + 0.9933883341124357, + -0.013987242244184017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992371923995721, + -0.008231482468545437, + -0.03817389526352131, + 0.011954473331570625 + ], + [ + 0.0039235316528194505, + 0.9937475919723511, + -0.11158090023598355, + -0.02944294363260269 + ], + [ + 0.038853693552798, + 0.11134600639343262, + 0.9930218718698651, + -0.013878150843083858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991862016855013, + -0.008230630308389664, + -0.03948724814419343, + 0.01275442074984312 + ], + [ + 0.0036772261801377294, + 0.9934707283973694, + -0.1140281192032929, + -0.030603038147091866 + ], + [ + 0.04016794647059844, + 0.1137901097536087, + 0.9926924501235805, + -0.013486016541719437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9991212468440794, + -0.008881031535565853, + -0.04096194066265182, + 0.01355811394751072 + ], + [ + 0.004050837120689091, + 0.9931792616844177, + -0.1165271659689339, + -0.03153128921985626 + ], + [ + 0.04171742960105858, + 0.11625883728265762, + 0.9923424261464844, + -0.013783551752567291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9990647316801153, + -0.009008837863802912, + -0.04229090565960597, + 0.01429070346057415 + ], + [ + 0.003917752503923377, + 0.9928919076919558, + -0.11895500569499823, + -0.032523468136787415 + ], + [ + 0.043061943763740694, + 0.1186780706048012, + 0.9919985537879927, + -0.013291447423398495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9990022293251524, + -0.009859850630164146, + -0.04355829227678261, + 0.015069966204464436 + ], + [ + 0.004494849235114255, + 0.9925702810287476, + -0.1215894873933845, + -0.03343311324715614 + ], + [ + 0.04443352257906968, + 0.12127238512039185, + 0.9916242867310395, + -0.01290565263479948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9989527036657951, + -0.00990566611289978, + -0.04466985723730185, + 0.015417585149407387 + ], + [ + 0.00430511165850999, + 0.9923015236854553, + -0.12377036740142316, + -0.03451118618249893 + ], + [ + 0.04555199517939826, + 0.1234484389424324, + 0.9913049248551604, + -0.012648096308112144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988972973713593, + -0.010153071954846382, + -0.04583838380094704, + 0.015723275020718575 + ], + [ + 0.004309559933306867, + 0.9920434355735779, + -0.1258220987692137, + -0.035863474011421204 + ], + [ + 0.04675114927769476, + 0.12548580765724182, + 0.9909932840606761, + -0.012149394489824772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9988137499032836, + -0.010916702449321749, + -0.04745499439709744, + 0.01638053171336651 + ], + [ + 0.004747532549265888, + 0.9917346835136416, + -0.1282177489713948, + -0.03679642826318741 + ], + [ + 0.04846247746634371, + 0.12784034013748172, + 0.9906100361403662, + -0.012190347537398338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9987598677921257, + -0.011089367792010307, + -0.048536049262869335, + 0.01684359461069107 + ], + [ + 0.004672079556756957, + 0.9914526343345642, + -0.1303834465220484, + -0.037718627601861954 + ], + [ + 0.049567062390468035, + 0.12999500334262848, + 0.9902748863931135, + -0.010839552618563175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9987037103622551, + -0.011466055177152157, + -0.049592061414250245, + 0.017143065109848976 + ], + [ + 0.004810726059368458, + 0.9911990761756897, + -0.13229238508531577, + -0.03893396630883217 + ], + [ + 0.05067247708687081, + 0.13188233971595764, + 0.9899693435040584, + -0.010347152128815651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9986319410032031, + -0.01194710098206997, + -0.050906953788258345, + 0.01773201674222946 + ], + [ + 0.004998287754414197, + 0.9909011125564575, + -0.1344992195860123, + -0.03979933634400368 + ], + [ + 0.05205063057642531, + 0.13406075537204742, + 0.9896051722488703, + -0.010068587027490139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9985714991323758, + -0.012406333349645138, + -0.051971392299266776, + 0.01808307319879532 + ], + [ + 0.005229615609804428, + 0.9906933903694153, + -0.1360118971118814, + -0.0408950075507164 + ], + [ + 0.053175126123323535, + 0.13554580509662628, + 0.9893431082596179, + -0.009241900406777859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984962646014047, + -0.012757327407598499, + -0.053314996530328396, + 0.018444782122969627 + ], + [ + 0.005302546114100955, + 0.9904608726501467, + -0.13769223070326847, + -0.041869860142469406 + ], + [ + 0.054563000408983216, + 0.1372024714946747, + 0.9890390847732073, + -0.008689883165061474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9984273376991357, + -0.012891528196632862, + -0.054558706207558004, + 0.01866290345788002 + ], + [ + 0.005197775998777356, + 0.9902963042259216, + -0.13887482201953738, + -0.04293543100357056 + ], + [ + 0.055819593067618266, + 0.13837282359600067, + 0.9888058927603225, + -0.008907846175134182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9983515142054593, + -0.013300144113600254, + -0.055833354009858734, + 0.019085275009274483 + ], + [ + 0.005331259405798448, + 0.9900639653205872, + -0.14051675965602511, + -0.043607812374830246 + ], + [ + 0.05714748398316642, + 0.13998746871948242, + 0.9885027481948379, + -0.008303912356495857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.998272273736618, + -0.013646501116454601, + -0.05715059119591583, + 0.01950186863541603 + ], + [ + 0.005429477762859026, + 0.9899183511734009, + -0.14153525431041322, + -0.044426120817661285 + ], + [ + 0.05850587776552947, + 0.14098042249679565, + 0.9882821068280726, + -0.008088046684861183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9982129865388043, + -0.01364174485206604, + -0.058178436740402725, + 0.01960563473403454 + ], + [ + 0.005207810299445672, + 0.9897489547729492, + -0.14272296968369158, + -0.04507220908999443 + ], + [ + 0.05952903813619336, + 0.142164945602417, + 0.9880513294133828, + -0.007604801561683416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9981370155045549, + -0.01388210151344538, + -0.0594119203512398, + 0.019845006987452507 + ], + [ + 0.005237578326698912, + 0.9896723031997683, + -0.14325258068839372, + -0.046195924282073975 + ], + [ + 0.06078697836854677, + 0.14267452061176303, + 0.9879012623900914, + -0.007212352938950062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9980490873732054, + -0.014397439546883106, + -0.06075096615327818, + 0.02020304463803768 + ], + [ + 0.00551172337197931, + 0.9895668625831604, + -0.14396904057084559, + -0.047107502818107605 + ], + [ + 0.06218992837075532, + 0.14335334300994873, + 0.9877156526614009, + -0.006927833892405033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9979670837138422, + -0.014677770435810089, + -0.062018084987336665, + 0.02057998813688755 + ], + [ + 0.005552466803357217, + 0.9894420504570007, + -0.14482266592738663, + -0.04778096079826355 + ], + [ + 0.06348897365111564, + 0.1441839039325714, + 0.9875120779941037, + -0.006145474500954151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9978622813196467, + -0.015129944309592247, + -0.06357605355294402, + 0.021542778238654137 + ], + [ + 0.005747778854288019, + 0.9893798232078552, + -0.14523974644563092, + -0.0485699437558651 + ], + [ + 0.0650983342114587, + 0.14456385374069214, + 0.9873517861780216, + -0.005440194625407457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977261832112021, + -0.016147956252098083, + -0.06543497840512337, + 0.022765101864933968 + ], + [ + 0.006442722083902664, + 0.9892788529396057, + -0.14589686563706353, + -0.04930426552891731 + ], + [ + 0.06708937582961537, + 0.1451435387134552, + 0.9871334405157116, + -0.004251450765877962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976365458795126, + -0.01642882078886032, + -0.06671930979306502, + 0.023687008768320084 + ], + [ + 0.00649285739716452, + 0.9891908168792725, + -0.14649023959571073, + -0.04989033192396164 + ], + [ + 0.06840478714690491, + 0.14571082592010498, + 0.9869595263977807, + -0.0034567154943943024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9975099920493951, + -0.016744138672947884, + -0.06850908559667919, + 0.02468753047287464 + ], + [ + 0.006539866240433015, + 0.9891828894615173, + -0.14654163961266292, + -0.050870563834905624 + ], + [ + 0.07022172499052262, + 0.1457286924123764, + 0.9868292668497504, + -0.0026733633130788803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9974105329285363, + -0.017085133120417595, + -0.06985910242802403, + 0.025235474109649658 + ], + [ + 0.006627870652167072, + 0.9890749454498291, + -0.14726453392771877, + -0.051332324743270874 + ], + [ + 0.07161192185657449, + 0.1464201807975769, + 0.9866270005226, + -0.0025110829155892134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.997304337353602, + -0.017720824107527733, + -0.07120422720391273, + 0.025698252022266388 + ], + [ + 0.007043196978736595, + 0.9890375733375549, + -0.14749614390243967, + -0.05214390531182289 + ], + [ + 0.07303740635536717, + 0.1465970277786255, + 0.9864962427362473, + -0.0015940000303089619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9972227787437187, + -0.01794193685054779, + -0.07228296259278824, + 0.025889158248901367 + ], + [ + 0.007088870079487479, + 0.9890081882476807, + -0.14769093287662077, + -0.05281933397054672 + ], + [ + 0.07413830078202115, + 0.14676834642887115, + 0.9863886491719414, + -0.0005477115628309548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9971448479161059, + -0.01792929135262966, + -0.07335303902578583, + 0.025774233043193817 + ], + [ + 0.006902251886977218, + 0.9889777898788452, + -0.1479028686382943, + -0.053400758653879166 + ], + [ + 0.075196320425057, + 0.14697428047657013, + 0.986277860636454, + -0.00011145701864734292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9970491864324108, + -0.018201114609837532, + -0.07457674055930123, + 0.025967955589294434 + ], + [ + 0.007009345052771344, + 0.9890124201774597, + -0.14766625141740766, + -0.054223883897066116 + ], + [ + 0.07644501212929254, + 0.14670777320861816, + 0.986221587678051, + 0.0004998772055841982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9969648530556804, + -0.017719179391860962, + -0.07580962893176942, + 0.02606465294957161 + ], + [ + 0.006330696055169166, + 0.9889816045761108, + -0.1479028601457835, + -0.05448106676340103 + ], + [ + 0.07759505020774032, + 0.14697402715682983, + 0.9860921325305918, + 0.0006686440319754183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9968400959362114, + -0.01852046325802803, + -0.07724533609460835, + 0.026739612221717834 + ], + [ + 0.006912950743539581, + 0.9889769554138184, + -0.14790803349545298, + -0.055144473910331726 + ], + [ + 0.07913318333019241, + 0.14690665900707245, + 0.9859799333087744, + 0.002109290100634098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.996705900055892, + -0.019385630264878273, + -0.07875018245098916, + 0.027445081621408463 + ], + [ + 0.007543627288869941, + 0.9889626502990723, + -0.14797282025761765, + -0.0555897131562233 + ], + [ + 0.080749536361433, + 0.14689131081104279, + 0.9858511529927159, + 0.0030260502826422453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9966018201221576, + -0.019586464390158653, + -0.08000703080792111, + 0.02787570282816887 + ], + [ + 0.00758030316927967, + 0.9890040755271912, + -0.14769385867030918, + -0.056170862168073654 + ], + [ + 0.08202008243008045, + 0.14658550918102264, + 0.9857917620972867, + 0.003390057012438774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9965565574575387, + -0.019073711708188057, + -0.08069186059274194, + 0.027883637696504593 + ], + [ + 0.0070093215259753065, + 0.9890775680541992, + -0.14722913931141468, + -0.056701354682445526 + ], + [ + 0.08261871608734545, + 0.14615657925605774, + 0.9858054353549363, + 0.004530639387667179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9964668365803476, + -0.019120801240205768, + -0.08178170468514108, + 0.028033964335918427 + ], + [ + 0.006951055152351365, + 0.9891748428344729, + -0.14657704161285554, + -0.05733335763216019 + ], + [ + 0.08369907294520228, + 0.1454906910657883, + 0.9858127968893972, + 0.005532256793230772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9963277928254207, + -0.019443532451987267, + -0.08338414478365667, + 0.02843421697616577 + ], + [ + 0.007078969996591201, + 0.9892461895942688, + -0.14608853887697196, + -0.05779590457677841 + ], + [ + 0.08532792170435001, + 0.14496178925037384, + 0.985751069108654, + 0.005937185138463974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9962455312427686, + -0.020029719918966293, + -0.08422355306321926, + 0.028537532314658165 + ], + [ + 0.007600916086858721, + 0.9893474578857422, + -0.14537470033845074, + -0.05849913880228996 + ], + [ + 0.08623817309502066, + 0.14418871700763702, + 0.9857852446440054, + 0.00718725798651576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9961178320532963, + -0.02027943916618824, + -0.08566234700391745, + 0.028817806392908096 + ], + [ + 0.0077032314069523065, + 0.989450991153717, + -0.1446631336318498, + -0.05904177203774452 + ], + [ + 0.08769237852066453, + 0.14344166219234467, + 0.9857659534804927, + 0.007719045039266348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.995989722006544, + -0.021074624732136726, + -0.08694994459998485, + 0.029031870886683464 + ], + [ + 0.00835133538468928, + 0.9895172119140625, + -0.1441732840234752, + -0.059486955404281616 + ], + [ + 0.08907686700135153, + 0.14286895096302032, + 0.9857250125178114, + 0.008053482510149479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9959029500975968, + -0.0205815602093935, + -0.08805511929843653, + 0.029299406334757805 + ], + [ + 0.0078116033529479125, + 0.9896951913833618, + -0.14297715368012448, + -0.0602351613342762 + ], + [ + 0.09009041874070967, + 0.1417035311460495, + 0.9858011218466699, + 0.009355636313557625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958023367504311, + -0.02064075507223606, + -0.08917228868552299, + 0.02977558597922325 + ], + [ + 0.007795707213609274, + 0.9898273944854736, + -0.14205983680217227, + -0.06079120561480522 + ], + [ + 0.09119739457684496, + 0.140768364071846, + 0.9858333102989802, + 0.010820712894201279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9956695650127494, + -0.02087894827127457, + -0.0905878658938173, + 0.03038761392235756 + ], + [ + 0.007921334431136165, + 0.9899629950523379, + -0.1411045014271933, + -0.06145079806447029 + ], + [ + 0.09262475334004003, + 0.139775887131691, + 0.985841476605742, + 0.011052079498767853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9954777906642893, + -0.021374035626649857, + -0.09255878395496701, + 0.031352683901786804 + ], + [ + 0.00816892068951711, + 0.9900100827217102, + -0.14075955823006595, + -0.06157388910651207 + ], + [ + 0.09464273149682874, + 0.13936690986156464, + 0.9857076795348272, + 0.010647074319422245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9953637022388812, + -0.02178357355296612, + -0.09368322725906934, + 0.031820088624954224 + ], + [ + 0.008540461446950526, + 0.990185081958771, + -0.1395010193585789, + -0.062482934445142746 + ], + [ + 0.09580256627825302, + 0.13805414736270907, + 0.9857803521406433, + 0.011660589836537838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9953117663428062, + -0.021209128201007846, + -0.09436422084694959, + 0.03209565952420235 + ], + [ + 0.007983450205745707, + 0.9903466701507571, + -0.13838258852834687, + -0.06315310299396515 + ], + [ + 0.09638826956434043, + 0.13698047399520877, + 0.9858730638553437, + 0.01459128875285387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9952216753090856, + -0.020919673144817356, + -0.09537403821230271, + 0.03243524208664894 + ], + [ + 0.007633150761027227, + 0.9904585480690005, + -0.1375992201654944, + -0.06366166472434998 + ], + [ + 0.09734256485935373, + 0.13621371984481814, + 0.9858855352463819, + 0.01653154380619526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9950660955432746, + -0.02169896848499775, + -0.0968122589656712, + 0.0331103540956974 + ], + [ + 0.008280677800174264, + 0.9905495643615723, + -0.1369049843693789, + -0.06416729092597961 + ], + [ + 0.0988680381794988, + 0.13542784750461578, + 0.9858419731092186, + 0.017970863729715347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9948145258435801, + -0.023520004004240043, + -0.09894897100259872, + 0.033645715564489365 + ], + [ + 0.00981531633328386, + 0.9905539751052859, + -0.1367716677683729, + -0.06448404490947723 + ], + [ + 0.1012311682881384, + 0.1350912153720856, + 0.9856483500649302, + 0.016449173912405968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.994819446129964, + -0.02177184633910656, + -0.09929859791622944, + 0.033485498279333115 + ], + [ + 0.00815147240029313, + 0.990735650062561, + -0.1355598147666619, + -0.06503473222255707 + ], + [ + 0.10133004934857923, + 0.13404811918735504, + 0.9857805781370367, + 0.02060611918568611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9946150397372884, + -0.023193281143903732, + -0.10101008600194061, + 0.03383142128586769 + ], + [ + 0.009369282432172193, + 0.9907689094543457, + -0.13523751994391076, + -0.06542202830314636 + ], + [ + 0.10321425249734834, + 0.1335628777742386, + 0.9856509491071306, + 0.020036302506923676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9944575728277699, + -0.02378426119685173, + -0.10241335522016684, + 0.033970907330513 + ], + [ + 0.00982307018270378, + 0.9908343553543091, + -0.13472495851286456, + -0.06580289453268051 + ], + [ + 0.10467900000400446, + 0.13297224044799805, + 0.98557632707875, + 0.019163403660058975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.994268303911953, + -0.023994503542780876, + -0.10418637336084773, + 0.03415047377347946 + ], + [ + 0.009901900997819143, + 0.9909685850143433, + -0.1337281748525506, + -0.06636672466993332 + ], + [ + 0.10645416509335867, + 0.13193003833293915, + 0.9855262643306523, + 0.016896191984415054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9941655151738935, + -0.023964865133166313, + -0.1051692852601005, + 0.03423687443137169 + ], + [ + 0.009825663795569381, + 0.9910736083984375, + -0.1329533525760688, + -0.06691130250692368 + ], + [ + 0.10741670882967765, + 0.13114428520202637, + 0.985526652905485, + 0.018333327025175095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9940080918541022, + -0.02396533451974392, + -0.10664709853178195, + 0.03444426879286766 + ], + [ + 0.0097404687800872, + 0.9912079572677612, + -0.13195414373253841, + -0.06745888292789459 + ], + [ + 0.10887177474320538, + 0.13012468814849854, + 0.9855021418229608, + 0.016820799559354782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938217870691108, + -0.024981705471873283, + -0.10813968748664488, + 0.0349738709628582 + ], + [ + 0.010612428833119594, + 0.9912639856338501, + -0.13146517173734554, + -0.06783650070428848 + ], + [ + 0.11047919945259911, + 0.12950533628463745, + 0.9854048429202, + 0.016738038510084152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9936075374754776, + -0.025095039978623397, + -0.11006488788483615, + 0.03572645038366318 + ], + [ + 0.010581948933756566, + 0.9913904070854189, + -0.13051098558615845, + -0.06826625019311905 + ], + [ + 0.11239245400493497, + 0.1285119950771332, + 0.9853185525565544, + 0.01468749064952135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9934442547559418, + -0.025400687009096153, + -0.11145980073549694, + 0.036353182047605515 + ], + [ + 0.010771694428166658, + 0.9914637207984927, + -0.12993726665729838, + -0.06862624734640121 + ], + [ + 0.11380884677665452, + 0.12788483500480655, + 0.9852375600002068, + 0.0165860615670681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.993261899873078, + -0.02580961398780346, + -0.11298097048933252, + 0.03673724830150604 + ], + [ + 0.01108497367933481, + 0.991574227809906, + -0.12906481212596746, + -0.06914171576499939 + ], + [ + 0.11536012538252204, + 0.12694276869297028, + 0.9851789492274463, + 0.015941288322210312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9931088297912507, + -0.025955528020858765, + -0.11428537763533152, + 0.03715837374329567 + ], + [ + 0.011219726914048711, + 0.9917442202568054, + -0.12774018022324532, + -0.06995262205600739 + ], + [ + 0.11665742489141913, + 0.1255776435136795, + 0.9852011406164756, + 0.01627822406589985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9929734910696797, + -0.02708691731095314, + -0.11519543333440009, + 0.03733469918370247 + ], + [ + 0.012261773926462981, + 0.9917619228363037, + -0.127506415101795, + -0.07034894824028015 + ], + [ + 0.11770019958140807, + 0.12519799172878265, + 0.9851254171756856, + 0.01801830343902111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.992828746637187, + -0.027530137449502945, + -0.11633215015508627, + 0.03747095167636871 + ], + [ + 0.0126642723158072, + 0.9918673634529114, + -0.12664420833522777, + -0.07094790041446686 + ], + [ + 0.11887259693011534, + 0.1242627426981926, + 0.9851030846738974, + 0.01812712661921978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9927178168593714, + -0.027163945138454437, + -0.11736051219227826, + 0.037715062499046326 + ], + [ + 0.012256016477821482, + 0.9919637441635132, + -0.12592721418364125, + -0.0713663101196289 + ], + [ + 0.11983805347006607, + 0.12357181310653687, + 0.9850730130364089, + 0.02038525976240635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9925616637694886, + -0.027609165757894523, + -0.1185711013797271, + 0.03789731115102768 + ], + [ + 0.012615264572459992, + 0.9920273423194887, + -0.12538989839572645, + -0.0717659592628479 + ], + [ + 0.12108768462244593, + 0.12296140193939212, + 0.9849965960619708, + 0.020610066130757332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9924438002160787, + -0.027511756867170334, + -0.11957587772469983, + 0.0381375290453434 + ], + [ + 0.01248011373281212, + 0.9921181201934814, + -0.12468316578113334, + -0.07222750782966614 + ], + [ + 0.12206364752286261, + 0.12224871665239334, + 0.9849648181137886, + 0.02290899120271206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9922908058861547, + -0.027577955275774002, + -0.12082393313287289, + 0.0381505973637104 + ], + [ + 0.012522414411510061, + 0.9922484755516052, + -0.12363701017862905, + -0.07287516444921494 + ], + [ + 0.12329701872834246, + 0.12117086350917816, + 0.9849443746098775, + 0.021152695640921593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9921179925095678, + -0.027943074703216553, + -0.12215184334000435, + 0.03855729103088379 + ], + [ + 0.012796101193892859, + 0.9923155903816223, + -0.12306902779516123, + -0.07330238819122314 + ], + [ + 0.12465211135735271, + 0.12053593248128891, + 0.9848517634823631, + 0.022468144074082375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9919642863376571, + -0.027849383652210236, + -0.12341523893723731, + 0.0388127900660038 + ], + [ + 0.012651715175444589, + 0.9924180507659912, + -0.12225542650764909, + -0.07379429787397385 + ], + [ + 0.12588424112909144, + 0.11971160024404526, + 0.984795537372695, + 0.02280120924115181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9918236273204889, + -0.027616089209914207, + -0.1245921973448789, + 0.038906171917915344 + ], + [ + 0.012407714858582313, + 0.9925472140312195, + -0.12122755958643068, + -0.07442165911197662 + ], + [ + 0.1270114699038242, + 0.11869045346975327, + 0.9847744411243053, + 0.023321500048041344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9916247190278993, + -0.028422247618436813, + -0.1259866811509221, + 0.03929644078016281 + ], + [ + 0.013091955368014737, + 0.9925809502601624, + -0.12087847073587397, + -0.07473567873239517 + ], + [ + 0.1284876173726298, + 0.11821666359901428, + 0.9846399185672943, + 0.02393227443099022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9914667599576693, + -0.02877957187592984, + -0.1271434131020561, + 0.03947049379348755 + ], + [ + 0.013415998062120727, + 0.9926737546920779, + -0.12007864270228771, + -0.07531558722257614 + ], + [ + 0.12966773716891292, + 0.11734822392463687, + 0.9845891130389363, + 0.025286417454481125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9913230318319505, + -0.028614889830350876, + -0.12829586952165695, + 0.03969639167189598 + ], + [ + 0.013198202372292866, + 0.9927535057067871, + -0.11944148618296517, + -0.07568101584911346 + ], + [ + 0.1307839801408152, + 0.1167118176817894, + 0.9845170884989906, + 0.02702300436794758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9911492094722528, + -0.029208235442638397, + -0.12949968930588443, + 0.03952622786164284 + ], + [ + 0.013761831306333697, + 0.9928461909294128, + -0.11860458370307375, + -0.07629043608903885 + ], + [ + 0.13203750027742497, + 0.11577267944812775, + 0.9844606613683096, + 0.025298431515693665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.990972312763279, + -0.02933645434677601, + -0.13081745595921296, + 0.03954664245247841 + ], + [ + 0.013849248104634955, + 0.9929453134536743, + -0.11776160651267273, + -0.07687391340732574 + ], + [ + 0.13334929169364476, + 0.11488676816225052, + 0.984387646129724, + 0.025417713448405266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9907729082233481, + -0.029606301337480545, + -0.1322591350838831, + 0.039786163717508316 + ], + [ + 0.014040448999280938, + 0.9930198192596436, + -0.11710910034176414, + -0.07734609395265579 + ], + [ + 0.1348031081771742, + 0.11417154967784882, + 0.9842728181497294, + 0.026249203830957413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.990560686886501, + -0.029820047318935394, + -0.13379183666017597, + 0.040096402168273926 + ], + [ + 0.014225630788762747, + 0.9931434988975525, + -0.11603276283471513, + -0.07806244492530823 + ], + [ + 0.13633459741408113, + 0.11303422600030899, + 0.9841931278093449, + 0.02714345045387745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9904041473644734, + -0.02974054217338562, + -0.13496358119945764, + 0.04041806235909462 + ], + [ + 0.014148786854202226, + 0.9932593703269958, + -0.11504627363410462, + -0.0787440687417984 + ], + [ + 0.1374753785544865, + 0.11203273385763168, + 0.9841489811850649, + 0.02889697626233101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9902311335395125, + -0.03083888441324234, + -0.13598248700960122, + 0.040757350623607635 + ], + [ + 0.01516448656100943, + 0.9932693243026733, + -0.11483073774887567, + -0.07903607189655304 + ], + [ + 0.13860848315078128, + 0.1116468757390976, + 0.9840338450627579, + 0.02975914254784584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9900578637311753, + -0.031035033985972404, + -0.137194149757074, + 0.04073582962155342 + ], + [ + 0.01542064377303224, + 0.9934248924255371, + -0.11344247796799571, + -0.07992833852767944 + ], + [ + 0.13981277674490777, + 0.11019899696111679, + 0.9840267389855237, + 0.029026158154010773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9898410257573944, + -0.032022200524806976, + -0.13852571069780484, + 0.041318703442811966 + ], + [ + 0.0164007366660875, + 0.9935193061828613, + -0.11247410104324539, + -0.08071426302194595 + ], + [ + 0.1412296331922205, + 0.10905955731868744, + 0.9839513189115034, + 0.030389979481697083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9896357745946864, + -0.03255234658718109, + -0.13986182913600997, + 0.04178585484623909 + ], + [ + 0.01686498545872287, + 0.9935743808746338, + -0.11191747858367902, + -0.08120443671941757 + ], + [ + 0.14260631085394146, + 0.10839877277612686, + 0.9838257704241414, + 0.031091446056962013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.989476881385162, + -0.03254960477352143, + -0.14098247127604788, + 0.04197690263390541 + ], + [ + 0.016862767742458266, + 0.9936700463294985, + -0.11106522961399093, + -0.08172162622213364 + ], + [ + 0.14370518367779425, + 0.10751912742853167, + 0.9837623893947537, + 0.030497875064611435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9893210048477847, + -0.03251821920275689, + -0.14207939360712754, + 0.04215650260448456 + ], + [ + 0.01679750788811188, + 0.993736803531647, + -0.1104764391509494, + -0.08219257742166519 + ], + [ + 0.1447820136290759, + 0.10691007971763614, + 0.9836708842192653, + 0.03123638778924942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9890845752615236, + -0.03302282094955444, + -0.14360098749335137, + 0.04273068904876709 + ], + [ + 0.01726952731740074, + 0.9938263297080994, + -0.10959482410841587, + -0.08289573341608047 + ], + [ + 0.14633356441233458, + 0.10591863095760345, + 0.9835485216353255, + 0.031967662274837494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9888684989861343, + -0.03359708935022354, + -0.14494933263678694, + 0.043147407472133636 + ], + [ + 0.0178250801361327, + 0.9939073920249939, + -0.10876721847167647, + -0.08358673751354218 + ], + [ + 0.14772047674650568, + 0.10497274994850159, + 0.983442602667835, + 0.03248366340994835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9886603402429429, + -0.03354314342141152, + -0.14637477213131633, + 0.043627768754959106 + ], + [ + 0.0177330498130054, + 0.9939918518066408, + -0.1080080203933806, + -0.08415839076042175 + ], + [ + 0.1491182639178591, + 0.1041875705122948, + 0.9833151816691116, + 0.032897841185331345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9884295672882835, + -0.03390953317284584, + -0.14784167602583703, + 0.04425223544239998 + ], + [ + 0.018043467228652098, + 0.9940557479858398, + -0.10736667402612143, + -0.08471427857875824 + ], + [ + 0.15060362045535292, + 0.10345681011676788, + 0.9831659415110646, + 0.033951397985219955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9882063732922032, + -0.03422345221042634, + -0.14925472951179397, + 0.044729214161634445 + ], + [ + 0.01830319332653177, + 0.9941161274909975, + -0.1067621568275938, + -0.085255928337574 + ], + [ + 0.1520302953834676, + 0.10277120769023898, + 0.9830182192669357, + 0.03467298299074173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9879906211442553, + -0.03475945442914963, + -0.1505534277377218, + 0.045148152858018875 + ], + [ + 0.01875783440913295, + 0.9941433072090149, + -0.10642943860326913, + -0.0856403037905693 + ], + [ + 0.15337111292532896, + 0.10232723504304886, + 0.9828562818744353, + 0.03546705096960068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9878069774567249, + -0.034887686371803284, + -0.1517239960430104, + 0.04538557678461075 + ], + [ + 0.018838096115011582, + 0.9941919445991516, + -0.10595985397390058, + -0.08604834228754044 + ], + [ + 0.15453947519155384, + 0.10180968791246414, + 0.9827270132287044, + 0.03608431667089462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9875987397655684, + -0.035423412919044495, + -0.15295083698467768, + 0.045734383165836334 + ], + [ + 0.01930488165344251, + 0.9942201972007751, + -0.10561039093899026, + -0.08644884079694748 + ], + [ + 0.15580788482463923, + 0.10134798288345337, + 0.9825744095173646, + 0.03709905594587326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9874194312166328, + -0.03537817299365998, + -0.15411425337847393, + 0.045947685837745667 + ], + [ + 0.019225119450515905, + 0.9942791461944582, + -0.10506828257862573, + -0.08694324642419815 + ], + [ + 0.15694971523211523, + 0.10078359395265582, + 0.9824507147718797, + 0.03782973438501358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9871911519324603, + -0.035781413316726685, + -0.15547766565762614, + 0.04620450362563133 + ], + [ + 0.019561535139886597, + 0.9943191409111023, + -0.10462702955195495, + -0.08743751794099808 + ], + [ + 0.15833812557092608, + 0.10024549067020416, + 0.9822830197308571, + 0.03811860457062721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9869714699673388, + -0.03594218194484711, + -0.15682941680887386, + 0.04645153880119324 + ], + [ + 0.019672152312696027, + 0.9943735003471375, + -0.10408824148532946, + -0.08792895078659058 + ], + [ + 0.15968817732965074, + 0.09964694827795029, + 0.9821253510296313, + 0.0383283756673336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9867599352150133, + -0.03640097379684448, + -0.15804982677997534, + 0.04668451473116875 + ], + [ + 0.0200239789272828, + 0.9943755865097046, + -0.10400125868231273, + -0.0883801281452179 + ], + [ + 0.16094663513038848, + 0.09945948421955109, + 0.9819388787801253, + 0.039271995425224304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9865949035656227, + -0.0359712690114975, + -0.15917446688839, + 0.04670023173093796 + ], + [ + 0.01955540577876782, + 0.9944350719451904, + -0.103520550454663, + -0.08877066522836685 + ], + [ + 0.16201244032599166, + 0.09902013093233109, + 0.9818080174617182, + 0.03907160088419914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.986380397740515, + -0.036679927259683616, + -0.16033815500040094, + 0.04688188433647156 + ], + [ + 0.020147356650458706, + 0.994420647621155, + -0.10354564695703795, + -0.08935081958770752 + ], + [ + 0.16324161221018824, + 0.09890501201152804, + 0.9816160066033974, + 0.0397443026304245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9861684239660168, + -0.03713474050164223, + -0.1615327701150996, + 0.04707174375653267 + ], + [ + 0.02048846212644031, + 0.9944160580635071, + -0.10352269940281429, + -0.08985612541437149 + ], + [ + 0.1644750705834187, + 0.09878126531839371, + 0.9814225482856079, + 0.04022901505231857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9859627875878844, + -0.037453677505254745, + -0.1627103566634832, + 0.04718850925564766 + ], + [ + 0.02070031848365472, + 0.994417667388916, + -0.10346517461838109, + -0.09033229202032089 + ], + [ + 0.16567719936626502, + 0.09864465892314911, + 0.9812340916131523, + 0.040597956627607346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9857904706947466, + -0.03745453432202339, + -0.16375084197963413, + 0.04717709869146347 + ], + [ + 0.020552458848161606, + 0.9943942427635193, + -0.10371951235325833, + -0.09063555300235748 + ], + [ + 0.1667176517341852, + 0.09888021647930145, + 0.9810341075144607, + 0.04071982577443123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9855557405064835, + -0.038012199103832245, + -0.16503025587498468, + 0.047417521476745605 + ], + [ + 0.02099554158706806, + 0.9943913817405701, + -0.10365810707013358, + -0.09133337438106537 + ], + [ + 0.1680449309873088, + 0.09869594126939774, + 0.9808261802719537, + 0.04091719165444374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9853484096207078, + -0.0383051373064518, + -0.16619646329439475, + 0.04750050976872444 + ], + [ + 0.021048182356416374, + 0.9943147301673889, + -0.10437989278751525, + -0.09165119379758835 + ], + [ + 0.16924987492636134, + 0.09935241937637329, + 0.9805526627514012, + 0.04172636196017265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9851886887473481, + -0.038268923759460456, + -0.16714878192549332, + 0.047423917800188065 + ], + [ + 0.02086875228083299, + 0.9942909479141238, + -0.10464203930847105, + -0.09220242500305176 + ], + [ + 0.17019906873151322, + 0.09960397332906726, + 0.9803628843005856, + 0.04181263968348503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.984953364028258, + -0.03877970948815346, + -0.16841323763818747, + 0.04747043922543526 + ], + [ + 0.02115936494073074, + 0.9942273497581482, + -0.1051868441392296, + -0.0926530659198761 + ], + [ + 0.17152015780388105, + 0.10004061460494995, + 0.9800881037901272, + 0.04303529113531113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9847761166502823, + -0.03914972394704819, + -0.1693612741502742, + 0.04740149900317192 + ], + [ + 0.021402615119538466, + 0.9942024946212769, + -0.10537220297964968, + -0.09331569820642471 + ], + [ + 0.17250469833259088, + 0.10014326125383377, + 0.9799048006269526, + 0.04254648834466934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9845773362072306, + -0.03940317779779435, + -0.17045491886057978, + 0.04747234657406807 + ], + [ + 0.02139761471258537, + 0.9941136837005617, + -0.1062077603080515, + -0.09370554238557816 + ], + [ + 0.17363648836435658, + 0.1009224280714989, + 0.9796249216743335, + 0.04334793612360954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9844088464852585, + -0.03934131935238838, + -0.17143935690353995, + 0.04742570221424103 + ], + [ + 0.021198154690868404, + 0.9940972328186035, + -0.10640171835251523, + -0.09442979097366333 + ], + [ + 0.17461337949191302, + 0.1011086031794548, + 0.9794320994783711, + 0.04364026337862015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.984203823917044, + -0.039679929614067085, + -0.17253501628367154, + 0.04742572084069252 + ], + [ + 0.021338024183047075, + 0.9940416812896731, + -0.10689158807794158, + -0.09496574103832245 + ], + [ + 0.17574844953383548, + 0.10152155160903933, + 0.9791863160363307, + 0.04394067823886871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9839941438154741, + -0.04009319096803665, + -0.17363197851819293, + 0.04748887941241264 + ], + [ + 0.021550149505474098, + 0.9939831495285034, + -0.10739226614818592, + -0.09553488343954086 + ], + [ + 0.1768929635735568, + 0.10193156450986862, + 0.9789376342423178, + 0.04458121582865715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9837977935691616, + -0.04025326669216156, + -0.17470440199827306, + 0.04753521457314491 + ], + [ + 0.021575273277241677, + 0.9939684271812439, + -0.10752318010843502, + -0.0961608812212944 + ], + [ + 0.1779788218602512, + 0.1020117700099945, + 0.9787324299539029, + 0.04459778219461441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9836014977567515, + -0.040415700525045395, + -0.1757688782562221, + 0.04757046326994896 + ], + [ + 0.021587771314561167, + 0.9939447641372681, + -0.10773926819550927, + -0.09668378531932831 + ], + [ + 0.17905891017443265, + 0.10217805206775665, + 0.9785180257160919, + 0.04514923319220543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9833651281199967, + -0.0408662036061287, + -0.1769831275162352, + 0.04764494672417641 + ], + [ + 0.021840830539760273, + 0.9938955307006838, + -0.10814156485132458, + -0.09705813229084015 + ], + [ + 0.18032207554932936, + 0.10247717797756198, + 0.9782547541598876, + 0.04490828514099121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9831262545097154, + -0.0412178598344326, + -0.17822408993158512, + 0.047766152769327164 + ], + [ + 0.02199739918747325, + 0.993852436542511, + -0.10850527645285825, + -0.09736909717321396 + ], + [ + 0.18160080692027789, + 0.10275392234325409, + 0.9779891322814838, + 0.04552222788333893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9828792182045561, + -0.04159661382436752, + -0.1794940811258789, + 0.04787991940975189 + ], + [ + 0.022204430324104345, + 0.9938238859176636, + -0.10872465904812811, + -0.09783123433589935 + ], + [ + 0.18290808218234975, + 0.1028776466846466, + 0.9777324726728885, + 0.04589029774069786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9826363046839948, + -0.04201365262269974, + -0.18072293328314656, + 0.047968920320272446 + ], + [ + 0.02242342412375793, + 0.9937770366668701, + -0.10910698844917054, + -0.09811504930257797 + ], + [ + 0.18418228448024923, + 0.10316005349159241, + 0.9774634923945449, + 0.04622414708137512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9823994803975133, + -0.04217497259378434, + -0.18196840991633195, + 0.04816143214702606 + ], + [ + 0.02244953008768149, + 0.9937740564346316, + -0.1091287694451256, + -0.09854242950677872 + ], + [ + 0.18543799614613135, + 0.10312294960021975, + 0.9772299776901155, + 0.046626977622509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9821633826927575, + -0.04213690757751465, + -0.18324730286244903, + 0.048376068472862244 + ], + [ + 0.022249191226750283, + 0.9937640428543091, + -0.10926112462011713, + -0.09875418245792389 + ], + [ + 0.18670851072700778, + 0.10323517769575119, + 0.9769761911198277, + 0.047145597636699677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9819148122507496, + -0.042374029755592346, + -0.1845202104619089, + 0.04854843392968178 + ], + [ + 0.022346121142594186, + 0.9937579035758972, + -0.10929716732635027, + -0.09912055730819702 + ], + [ + 0.18799977972532222, + 0.10319720208644867, + 0.9767325015065026, + 0.047628287225961685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9816856220723701, + -0.04256610572338105, + -0.18569188931029235, + 0.04872122034430504 + ], + [ + 0.022414825093092935, + 0.9937561154365542, + -0.10929942733542376, + -0.0995170921087265 + ], + [ + 0.18918489573803732, + 0.103135421872139, + 0.9765101797769477, + 0.047784917056560516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9814635929848228, + -0.04282836243510246, + -0.18680178138775308, + 0.04888183996081352 + ], + [ + 0.022513959316885865, + 0.993726909160614, + -0.10954428136263357, + -0.09977363795042038 + ], + [ + 0.19032156365060474, + 0.10330808162689209, + 0.9762710369224856, + 0.04793718457221985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.981236517100843, + -0.042983848601579666, + -0.18795547516905756, + 0.04904612898826599 + ], + [ + 0.022559555159669637, + 0.9937324523925781, + -0.10948437239166264, + -0.10022421181201935 + ], + [ + 0.19148351815514897, + 0.1031898781657219, + 0.9760562765773324, + 0.048289865255355835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9809577633834721, + -0.043472401797771454, + -0.18929331600107507, + 0.04934912174940109 + ], + [ + 0.022885517090427725, + 0.9937106966972351, + -0.10961434718753053, + -0.10062175244092941 + ], + [ + 0.19286799747051114, + 0.10319496691226959, + 0.9757831388557305, + 0.04831768572330475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9807112887645151, + -0.04357590153813362, + -0.19054254975981388, + 0.0495990514755249 + ], + [ + 0.022835569832481164, + 0.9937002062797546, + -0.10971975358312056, + -0.10092215985059738 + ], + [ + 0.1941233109760109, + 0.10325225442647934, + 0.9755281027719083, + 0.04855361580848694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9804446003390412, + -0.0438133180141449, + -0.19185614118864924, + 0.05006037652492523 + ], + [ + 0.022914815852863705, + 0.993687093257904, + -0.10982199159275699, + -0.10120265930891037 + ], + [ + 0.19545663802364135, + 0.1032780334353447, + 0.9752591148668043, + 0.04939011484384537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9801696148034528, + -0.044379111379384995, + -0.1931269672056891, + 0.050318263471126556 + ], + [ + 0.023316884741939634, + 0.9936584830284119, + -0.1099959302638456, + -0.10145397484302521 + ], + [ + 0.1967837734783463, + 0.10331154614686966, + 0.9749886509590444, + 0.04948198050260544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9799763843060147, + -0.04414796456694604, + -0.19415793086663247, + 0.0504157617688179 + ], + [ + 0.022947010053672907, + 0.9936535954475405, + -0.11011788712659625, + -0.10162634402513504 + ], + [ + 0.19778720336006986, + 0.1034575775265694, + 0.9747701109263844, + 0.0493273064494133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9797483619936866, + -0.04412344470620155, + -0.19531063527374157, + 0.050545476377010345 + ], + [ + 0.02280689276801263, + 0.993661642074585, + -0.1100746792439522, + -0.1019456759095192 + ], + [ + 0.19892955590987044, + 0.10339105874300003, + 0.974544658444337, + 0.04962354525923729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9795043615881293, + -0.044262457638978965, + -0.19649934149462994, + 0.0507088229060173 + ], + [ + 0.022806888506792567, + 0.9936545491218569, + -0.11013849296038597, + -0.10218100994825363 + ], + [ + 0.2001274704873126, + 0.10339960455894473, + 0.9742984957562651, + 0.04964306950569153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9792700768927176, + -0.04444509372115136, + -0.19762275973850008, + 0.050834037363529205 + ], + [ + 0.02285925448883649, + 0.9936469197273257, + -0.11019656200597594, + -0.1023954451084137 + ], + [ + 0.20126494143328671, + 0.10339468717575076, + 0.9740646660113048, + 0.04984263703227043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9790432317938408, + -0.04435589164495469, + -0.19876334019198558, + 0.05096439644694328 + ], + [ + 0.022630823651445465, + 0.9936441183090212, + -0.11026889832833742, + -0.1025618389248848 + ], + [ + 0.202391095887991, + 0.10345984995365146, + 0.973824353287035, + 0.05017617717385292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9787953741509728, + -0.04456457495689392, + -0.19993404145432583, + 0.05111025273799896 + ], + [ + 0.022681368115115903, + 0.9936243295669556, + -0.11043656686385013, + -0.1026800125837326 + ], + [ + 0.20358088785850081, + 0.10356001555919647, + 0.9735656933555049, + 0.050581060349941254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9785515527006657, + -0.04462936893105507, + -0.20110953276974355, + 0.051215630024671555 + ], + [ + 0.02260282140151026, + 0.9936169385910034, + -0.11051922590935935, + -0.10282745212316513 + ], + [ + 0.20475824415883212, + 0.10360311716794968, + 0.9733141606497541, + 0.050707947462797165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9782999385041627, + -0.0448063500225544, + -0.20229079139496892, + 0.05134407430887222 + ], + [ + 0.022633285648608677, + 0.9936048984527588, + -0.11062128194949877, + -0.1029762327671051 + ], + [ + 0.2059536543848195, + 0.1036422848701477, + 0.9730577160450324, + 0.05087321624159813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.978066014302802, + -0.044881246984004974, + -0.2034024690299705, + 0.05134718120098114 + ], + [ + 0.02259017202074539, + 0.993606448173523, + -0.11061624159758401, + -0.10313480347394943 + ], + [ + 0.2070665878895797, + 0.10359508544206619, + 0.9728265185905078, + 0.05102027952671051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9778235845885322, + -0.04504458233714104, + -0.20452868992521317, + 0.05141047015786171 + ], + [ + 0.022611362039863348, + 0.9935939908027649, + -0.11072335678406986, + -0.10323622077703476 + ], + [ + 0.2082059764237224, + 0.10364323854446411, + 0.9725782261847296, + 0.05116376280784607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9775805089429147, + -0.045176804065704346, + -0.2056585988528299, + 0.051433026790618896 + ], + [ + 0.022611564823898356, + 0.9935879111289978, + -0.11077825181747697, + -0.10333326458930969 + ], + [ + 0.20934449193931753, + 0.10364440083503723, + 0.9723336208403554, + 0.05130999535322189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9773351236466354, + -0.045318204909563065, + -0.206790655465071, + 0.0514787957072258 + ], + [ + 0.022636427127490134, + 0.9935892820358276, + -0.11076083878707868, + -0.10351944714784622 + ], + [ + 0.21048444980819114, + 0.10356945544481277, + 0.9720954862086167, + 0.05152156576514244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.977091318356047, + -0.04547214135527611, + -0.2079058923568719, + 0.05149693414568901 + ], + [ + 0.022671077889441515, + 0.9935879111289978, + -0.11076577337324332, + -0.10366237163543701 + ], + [ + 0.2116095385481151, + 0.10351482033729553, + 0.9718570246715403, + 0.051449004560709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9768491831953499, + -0.045533884316682816, + -0.20902704853697282, + 0.051523901522159576 + ], + [ + 0.022625062705052913, + 0.9935954213142395, + -0.11070806614522752, + -0.10383272171020508 + ], + [ + 0.2127292875022779, + 0.1034158319234848, + 0.971623082942487, + 0.051868487149477005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9766230144009466, + -0.04553099349141121, + -0.21008205020818152, + 0.051501642912626266 + ], + [ + 0.02251597956330554, + 0.9936019778251648, + -0.11067135635503714, + -0.1039583757519722 + ], + [ + 0.21377691034960067, + 0.10335399210453033, + 0.9713996996374327, + 0.05224953591823578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9763664268412146, + -0.045690033584833145, + -0.21123691460401064, + 0.05157089978456497 + ], + [ + 0.022593901955804106, + 0.9936208724975586, + -0.11048562282000825, + -0.10421670228242874 + ], + [ + 0.21493750365385186, + 0.10310178995132446, + 0.9711703930046364, + 0.05240149796009064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.976098425506152, + -0.04587076976895332, + -0.21243290045340193, + 0.051704440265893936 + ], + [ + 0.02269557887853338, + 0.9936419725418091, + -0.11027485203637159, + -0.10447558015584946 + ], + [ + 0.2161406307990212, + 0.1028178259730339, + 0.9709333989443417, + 0.05273611471056938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9758401575318384, + -0.04598519206047058, + -0.21359148870666533, + 0.051776058971881866 + ], + [ + 0.022732121270383016, + 0.9936633706092834, + -0.11007408180651501, + -0.10471457242965698 + ], + [ + 0.21729982381704596, + 0.10255932807922363, + 0.9707020021338942, + 0.05281369015574455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9755983317764316, + -0.04614022746682167, + -0.21466006586907405, + 0.05183954909443855 + ], + [ + 0.022749093701343655, + 0.9936501979827881, + -0.11018943218474214, + -0.10484771430492401 + ], + [ + 0.21838119532284933, + 0.1026173010468483, + 0.9704531902951403, + 0.054529957473278046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9753622110044946, + -0.04624173417687416, + -0.21570866234470823, + 0.05189601704478264 + ], + [ + 0.022762430098867224, + 0.993661105632782, + -0.11008829029752072, + -0.1049569845199585 + ], + [ + 0.21943199485379405, + 0.1024659126996994, + 0.9702321297880169, + 0.05466539412736893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9751156022904751, + -0.04625086113810539, + -0.2168187388638392, + 0.05190533027052879 + ], + [ + 0.02267166063842889, + 0.9936726689338684, + -0.11000306131361193, + -0.1051085814833641 + ], + [ + 0.2205345882463181, + 0.10235005617141724, + 0.9699942999234678, + 0.054690029472112656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9748259885974221, + -0.04635722190141678, + -0.21809462044146274, + 0.05214499309659004 + ], + [ + 0.02274082935219617, + 0.9937183856964111, + -0.10957478890206873, + -0.10549937933683395 + ], + [ + 0.22180421298309755, + 0.10185670107603073, + 0.9697566969973869, + 0.05504975840449333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9745447877482352, + -0.04663711413741112, + -0.21928846559604706, + 0.05233374238014221 + ], + [ + 0.022950985764288376, + 0.9937387108802795, + -0.10934611677781955, + -0.10576625168323517 + ], + [ + 0.2230150271333042, + 0.1015297994017601, + 0.9695132582258951, + 0.055320411920547485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9742583443807108, + -0.046700503677129745, + -0.22054423325363937, + 0.0525670163333416 + ], + [ + 0.02296312364018836, + 0.9937772154808044, + -0.1089934763015527, + -0.10607131570577621 + ], + [ + 0.22426187634500142, + 0.10112342238426208, + 0.9692680880496202, + 0.05551933869719505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9739998932164984, + -0.046589843928813934, + -0.22170601219901612, + 0.05277265980839729 + ], + [ + 0.02284229547263605, + 0.9938344359397888, + -0.10849590841811974, + -0.10639292746782303 + ], + [ + 0.2253938722366983, + 0.10061072558164597, + 0.9690588415505221, + 0.05567459389567375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9737132139503686, + -0.0467776507139206, + -0.22292252822838748, + 0.05300874635577202 + ], + [ + 0.022949429330509773, + 0.9938526153564455, + -0.10830635705483811, + -0.10662415623664856 + ], + [ + 0.22661844980968496, + 0.10034338384866717, + 0.9688009247343219, + 0.05595257878303528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9734213367227149, + -0.04677773267030716, + -0.22419354289416074, + 0.05335184559226036 + ], + [ + 0.022842279891548675, + 0.9938676953315735, + -0.1081909572157692, + -0.1067948192358017 + ], + [ + 0.227879637040269, + 0.1001942977309227, + 0.9685204889616233, + 0.05645280331373215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.973133387421683, + -0.04694418236613275, + -0.22540562005090045, + 0.053807035088539124 + ], + [ + 0.02292160732846496, + 0.993883013725281, + -0.10803300208674659, + -0.1070273146033287 + ], + [ + 0.22909833839130964, + 0.09996386617422107, + 0.9682567869968626, + 0.05703022703528404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9728278118436888, + -0.04696746170520784, + -0.22671580889625392, + 0.054254572838544846 + ], + [ + 0.022843935061299683, + 0.9939015507698061, + -0.10787875887282705, + -0.10720130801200867 + ], + [ + 0.23039999209496811, + 0.09976837784051898, + 0.9679680139613759, + 0.05722043663263321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9725507303131606, + -0.047089166939258575, + -0.22787643859958437, + 0.05453921854496002 + ], + [ + 0.022859207880561023, + 0.9939071536064148, + -0.10782386821047031, + -0.10734619200229645 + ], + [ + 0.23156536220458768, + 0.09965510666370392, + 0.9677015654916763, + 0.057724013924598694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9722277632142764, + -0.04690170660614967, + -0.22928904353878796, + 0.05482786148786545 + ], + [ + 0.022612534557147637, + 0.9939549565315247, + -0.10743491358077145, + -0.10766778141260147 + ], + [ + 0.2329418464976468, + 0.09926639497280121, + 0.9674111078225142, + 0.057528991252183914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9719894525085813, + -0.04703083261847496, + -0.2302708295568099, + 0.054863233119249344 + ], + [ + 0.02264937469590009, + 0.9939575791358948, + -0.10740267518504103, + -0.10781503468751907 + ], + [ + 0.2339306644331309, + 0.09917877614498138, + 0.9671814511835098, + 0.058169327676296234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9717041107174056, + -0.04727069661021234, + -0.2314230677941021, + 0.054893914610147476 + ], + [ + 0.022812551795285806, + 0.9939710497856142, + -0.10724363168616062, + -0.10812638700008392 + ], + [ + 0.23509730083872993, + 0.09892972558736804, + 0.9669240805074729, + 0.05842777341604233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9713912757516581, + -0.04734657332301141, + -0.23271714568062668, + 0.05501633509993553 + ], + [ + 0.022816771640192128, + 0.9939982891082766, + -0.10698995799406966, + -0.1084885448217392 + ], + [ + 0.23638604592236653, + 0.09861925244331363, + 0.9666415293913811, + 0.05894993245601654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9710711646699967, + -0.047855034470558167, + -0.2339459110770504, + 0.05512290447950363 + ], + [ + 0.023234710364378495, + 0.9939998388290405, + -0.10688514852982167, + -0.1088278740644455 + ], + [ + 0.23765719764399806, + 0.0983574166893959, + 0.9663565056040222, + 0.05918983370065689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9707916998274625, + -0.047803618013858795, + -0.235113235982415, + 0.05534187704324722 + ], + [ + 0.023103762069301752, + 0.9940217733383179, + -0.10670983726884256, + -0.10902705043554306 + ], + [ + 0.23880879438800182, + 0.09816103428602219, + 0.966092551430585, + 0.059550940990448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9704894067282273, + -0.047988079488277435, + -0.23632065486023307, + 0.05570826306939125 + ], + [ + 0.023173110127168682, + 0.9940227270126343, + -0.10668550313849898, + -0.10920276492834091 + ], + [ + 0.24002774402083865, + 0.09806086122989655, + 0.9658006034676272, + 0.06005007401108742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9700917937809255, + -0.048536572605371475, + -0.23783643254315154, + 0.05668938159942627 + ], + [ + 0.02351057164791182, + 0.9939860701560974, + -0.10695279010669317, + -0.10922903567552567 + ], + [ + 0.24159722030756337, + 0.09816235303878784, + 0.9653988303883606, + 0.06055305525660515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9696988808420641, + -0.04886570945382118, + -0.23936636114550344, + 0.05770459026098251 + ], + [ + 0.02365939109418085, + 0.9939700961112976, + -0.1070683855737984, + -0.1093515008687973 + ], + [ + 0.2431549758396086, + 0.09816082566976547, + 0.9650078121491565, + 0.0609867088496685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9692812677592848, + -0.049118597060441985, + -0.24100033354294442, + 0.05870739370584488 + ], + [ + 0.02374672351059757, + 0.9939673542976382, + -0.1070746416587332, + -0.10958438366651535 + ], + [ + 0.24480582670241713, + 0.09806247055530551, + 0.9646003714053198, + 0.06117666885256767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9689174935288121, + -0.049216825515031815, + -0.2424388382719408, + 0.059478290379047394 + ], + [ + 0.02372384763673829, + 0.9939790368080139, + -0.10697148080659005, + -0.10985783487558365 + ], + [ + 0.24624391087915373, + 0.09789495915174484, + 0.9642512520417821, + 0.06126369908452034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9686607915551297, + -0.049315646290779114, + -0.24344237186537285, + 0.05927150696516037 + ], + [ + 0.02375502772865915, + 0.9939926862716675, + -0.10683770538467688, + -0.11022798717021942 + ], + [ + 0.24724870385065323, + 0.09770651906728745, + 0.9640132302040111, + 0.06126583367586136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9684217076487289, + -0.049287911504507065, + -0.2443974736134571, + 0.05894240364432335 + ], + [ + 0.02366782102755222, + 0.9940117001533508, + -0.10668002356204095, + -0.11062394827604294 + ], + [ + 0.24819197186150121, + 0.0975269004702568, + 0.9637889909185875, + 0.06122678518295288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9682587510679005, + -0.0492742694914341, + -0.24504500162107498, + 0.0579218752682209 + ], + [ + 0.023635551444181897, + 0.9940328001976013, + -0.10649027776347718, + -0.11102058738470078 + ], + [ + 0.24882999880744908, + 0.0973183736205101, + 0.9636455753303605, + 0.060740113258361816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9680715744505043, + -0.049354232847690596, + -0.24576739255128002, + 0.05722348764538765 + ], + [ + 0.02366203610630215, + 0.9940401315689089, + -0.10641584997926759, + -0.11133307218551636 + ], + [ + 0.24955471404816715, + 0.09720280766487124, + 0.963469778144102, + 0.06073634698987007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9679305447440785, + -0.04950284585356712, + -0.24629232470733922, + 0.055982112884521484 + ], + [ + 0.02379419388984349, + 0.9940509796142578, + -0.10628516565971595, + -0.11183065176010132 + ], + [ + 0.2500885407866317, + 0.0970163345336914, + 0.9633501783683714, + 0.060637034475803375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.967678241127289, + -0.04979200288653374, + -0.2472237929131119, + 0.05566132813692093 + ], + [ + 0.023946793242770527, + 0.9940275549888611, + -0.10646964625778124, + -0.1120755672454834 + ], + [ + 0.25104859215435854, + 0.0971081480383873, + 0.9630911643724885, + 0.06108618527650833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9674240865265124, + -0.050034943968057646, + -0.24816747404216263, + 0.055267177522182465 + ], + [ + 0.02406556315939226, + 0.9940111041069033, + -0.10659608524204998, + -0.11235735565423965 + ], + [ + 0.252014765546507, + 0.0971513390541077, + 0.962834446262498, + 0.06129692494869232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9671740479920529, + -0.049824610352516174, + -0.249182392637447, + 0.05501314997673035 + ], + [ + 0.023729040665966133, + 0.9940130710601807, + -0.1066536150717093, + -0.11264599114656448 + ], + [ + 0.2530045235683253, + 0.09723974764347076, + 0.9625659193356537, + 0.061395663768053055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9668797371458717, + -0.05012275278568268, + -0.2502624394271341, + 0.05482335388660431 + ], + [ + 0.02379976868713952, + 0.9939610362052917, + -0.10712174762233669, + -0.11282311379909515 + ], + [ + 0.25412034893660423, + 0.09761766344308853, + 0.9622336899591176, + 0.06096481531858444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9666487507917019, + -0.050254385918378844, + -0.2511268701415703, + 0.054312001913785934 + ], + [ + 0.02378834729556749, + 0.9939382672309878, + -0.1073352994480689, + -0.11325768381357193 + ], + [ + 0.2549986697762927, + 0.09778164327144626, + 0.9619846244406948, + 0.060495372861623764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9663721577277777, + -0.050443109124898924, + -0.2521515055269914, + 0.05416470021009445 + ], + [ + 0.023686304963231427, + 0.9938637614250185, + -0.10804532612131307, + -0.11329174041748047 + ], + [ + 0.2560543805644899, + 0.09843945503234866, + 0.961637053577453, + 0.06037679314613342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9661590404031498, + -0.05061820149421692, + -0.2529318623644886, + 0.05337878689169884 + ], + [ + 0.02362466204523236, + 0.9938001036643982, + -0.10864266734357358, + -0.1136997640132904 + ], + [ + 0.25686300379295207, + 0.09899067133665085, + 0.9613647811007898, + 0.05984185263514519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9659841478971389, + -0.050787754356861115, + -0.2535651398228549, + 0.05248097702860832 + ], + [ + 0.02359463984110333, + 0.9937446117401123, + -0.10915543514918584, + -0.1140555813908577 + ], + [ + 0.2575227424991999, + 0.09945963323116302, + 0.9611398240016572, + 0.058878593146800995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9657951015420658, + -0.050493147224187865, + -0.25434281639378137, + 0.05194922909140587 + ], + [ + 0.023052066453358746, + 0.9936931729316714, + -0.10973819205240763, + -0.11414247006177902 + ], + [ + 0.2582797430433862, + 0.10012148320674899, + 0.9608679517255718, + 0.057942744344472885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9656070668505486, + -0.050526585429906845, + -0.2550492026619501, + 0.0513199046254158 + ], + [ + 0.022902903431696042, + 0.9936524033546448, + -0.11013817543576566, + -0.11456861346960068 + ], + [ + 0.2589951480667595, + 0.10050883144140244, + 0.9606349472339418, + 0.05723872780799866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9653439460883844, + -0.0506790429353714, + -0.2560130858801886, + 0.05109729617834091 + ], + [ + 0.022800560259822692, + 0.9935908913612366, + -0.11071251761484933, + -0.11488513648509979 + ], + [ + 0.25998307112653707, + 0.10103841871023178, + 0.9603124483210422, + 0.05710497498512268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9650227992087249, + -0.05124554410576822, + -0.25710877601267196, + 0.050865836441516876 + ], + [ + 0.023042278941965828, + 0.9934936761856081, + -0.11153178566639486, + -0.11523377895355225 + ], + [ + 0.26115145334394146, + 0.10170634835958484, + 0.9599248687381056, + 0.05656619742512703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9648155527641157, + -0.050838541239500046, + -0.2579659106622055, + 0.05064032971858978 + ], + [ + 0.022384015386639394, + 0.9934486746788025, + -0.11206534271424316, + -0.11537125706672668 + ], + [ + 0.26197312756633667, + 0.10234806686639786, + 0.9596326981862509, + 0.05677204206585884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.964533951106863, + -0.051145136356353774, + -0.25895638899908946, + 0.05056905373930931 + ], + [ + 0.022464530211552685, + 0.993394732475281, + -0.11252668983908223, + -0.1158209890127182 + ], + [ + 0.2630011035100317, + 0.10271847993135455, + 0.9593118966689003, + 0.056870561093091965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9642836148621051, + -0.051187485456466675, + -0.2598788354430674, + 0.050368912518024445 + ], + [ + 0.022218429786046368, + 0.9933226704597473, + -0.11320977876234879, + -0.11601279675960541 + ], + [ + 0.26393844796220056, + 0.10339222848415375, + 0.9589820211240725, + 0.057162728160619736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9640359473737037, + -0.05134958773851396, + -0.26076398888135355, + 0.05007053166627884 + ], + [ + 0.022172718242697318, + 0.9932763576507571, + -0.11362394176937923, + -0.11639878153800964 + ], + [ + 0.2648452611085397, + 0.1037557199597359, + 0.9586927238524672, + 0.05656357854604721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9637525667291301, + -0.051991768181324005, + -0.26168273111990437, + 0.04982779175043106 + ], + [ + 0.022490790633375314, + 0.9931693077087402, + -0.11449387505731662, + -0.11686290055513382 + ], + [ + 0.26584799584372587, + 0.10445831716060638, + 0.9583388061060267, + 0.056376926600933075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9634298527708645, + -0.05232340842485429, + -0.2628026360587222, + 0.05005349963903427 + ], + [ + 0.022370758151321845, + 0.9930322766304018, + -0.1156996619159614, + -0.11709506064653397 + ], + [ + 0.2670253012073782, + 0.10558940470218661, + 0.9578874559713718, + 0.05733930692076683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9630655317947037, + -0.05228215456008911, + -0.26414264026355694, + 0.050513312220573425 + ], + [ + 0.021924533859599395, + 0.9929373264312744, + -0.11659662858204048, + -0.11740350723266602 + ], + [ + 0.26837300713808115, + 0.10649899393320084, + 0.9574099652833945, + 0.05745039880275726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9626154567641457, + -0.05209058150649071, + -0.2658159143135226, + 0.05097316950559616 + ], + [ + 0.02132706324136724, + 0.9928635358810425, + -0.11733338069220985, + -0.11821271479129791 + ], + [ + 0.2700308881556781, + 0.10727785527706146, + 0.9568567012385006, + 0.05548568069934845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9623387760456793, + -0.05137363076210022, + -0.2669547558356878, + 0.05136281996965408 + ], + [ + 0.020158435024307114, + 0.9927635192871094, + -0.11838193390953693, + -0.11853134632110596 + ], + [ + 0.27110463845491645, + 0.10854212939739227, + 0.9564103849616904, + 0.05651983246207237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9620248161830712, + -0.05258329585194588, + -0.2678492103954917, + 0.05146963149309158 + ], + [ + 0.020844508938068915, + 0.9925563931465149, + -0.11998897400067238, + -0.118987537920475 + ], + [ + 0.27216486995356926, + 0.10984919220209122, + 0.9559599873511073, + 0.056052833795547485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9616989653698461, + -0.0532681867480278, + -0.2688821184426184, + 0.05161983519792557 + ], + [ + 0.021090339147735677, + 0.9924073815345764, + -0.12117273116901052, + -0.11967439949512482 + ], + [ + 0.2732952402128053, + 0.11086087673902512, + 0.9555205657485676, + 0.05674539878964424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.961518972267617, + -0.05227908119559288, + -0.269718583105497, + 0.051748618483543396 + ], + [ + 0.019717983832665972, + 0.9923282265663147, + -0.12204865797530917, + -0.12000057101249695 + ], + [ + 0.2740299662090827, + 0.11203379184007645, + 0.9551732999325675, + 0.05766363441944122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.961101942633602, + -0.05263994634151459, + -0.2711311964354149, + 0.05224485322833061 + ], + [ + 0.019577781352713867, + 0.9921846389770508, + -0.12323297138512188, + -0.12039557844400406 + ], + [ + 0.2754991738172241, + 0.11313129216432571, + 0.9546211147207893, + 0.057260241359472275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9607806255845077, + -0.053240519016981125, + -0.2721506749051259, + 0.052082546055316925 + ], + [ + 0.019854317315599813, + 0.9920850396156311, + -0.1239882236364368, + -0.1208747923374176 + ], + [ + 0.27659781199256345, + 0.11372211575508118, + 0.9542331449515273, + 0.05621351674199104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9605782319344256, + -0.05294486880302429, + -0.27292188943710266, + 0.05166082829236984 + ], + [ + 0.019302929178518564, + 0.9920307993888855, + -0.12450803762780997, + -0.12099696695804596 + ], + [ + 0.2773389772972361, + 0.11433151364326477, + 0.9539451620685514, + 0.05667315050959587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9603596426350874, + -0.052897896617651, + -0.2736989830410293, + 0.05089106410741806 + ], + [ + 0.018972217925207563, + 0.991956949234009, + -0.12514582308078587, + -0.1209985613822937 + ], + [ + 0.27811755947684685, + 0.11499232798814776, + 0.9536390186624116, + 0.05664011463522911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9601299290209457, + -0.05278794467449188, + -0.2745248600498763, + 0.050123803317546844 + ], + [ + 0.018682053384860706, + 0.9919306635856628, + -0.12539767344504257, + -0.12107861787080765 + ], + [ + 0.2789291091364353, + 0.11526937037706375, + 0.9533685004473909, + 0.05597877874970436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9599825561584233, + -0.052466314285993576, + -0.2751014691507496, + 0.049078602343797684 + ], + [ + 0.01813110492411477, + 0.991877555847168, + -0.12589760787225276, + -0.12094037234783173 + ], + [ + 0.27947234932091963, + 0.1158716157078743, + 0.9531364056506083, + 0.0558503195643425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9597598438935335, + -0.052452825009822845, + -0.275880008671432, + 0.04833192378282547 + ], + [ + 0.017953765485716505, + 0.9918524026870728, + -0.12612063941392643, + -0.1210949495434761 + ], + [ + 0.2802476409404281, + 0.11609244346618652, + 0.9528818593145622, + 0.05542629957199097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9595110837598793, + -0.052733246237039566, + -0.2766906764315601, + 0.0478665791451931 + ], + [ + 0.0180044037760156, + 0.9917923212051392, + -0.12658541816771754, + -0.12119042128324509 + ], + [ + 0.2810949380808734, + 0.11647845804691315, + 0.9525851189151148, + 0.055236928164958954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9593620166722732, + -0.052698176354169846, + -0.27721362869219573, + 0.04683500528335571 + ], + [ + 0.017655657317747663, + 0.9916918873786926, + -0.12741863828232103, + -0.12129901349544525 + ], + [ + 0.281625231543638, + 0.11734621971845627, + 0.952321936792305, + 0.054554302245378494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/tilt_up/transforms.json b/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7c5477500dab2c949d94da454a5219e8fcbe8e18 --- /dev/null +++ b/dynpose_eval/camera_controls/f967a72c-b05b-4381-89c0-e921f6098816/tilt_up/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00012795822112821043, + -6.58603894407861e-05, + 1.245094244950451e-05 + ], + [ + -0.0001279363059438765, + 0.9999999403953552, + 0.0003326068399474025, + -0.00020766525994986296 + ], + [ + 6.590293924091384e-05, + -0.00033259839983657, + 0.9999999403953552, + -9.35567295528017e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0005717902829117196, + -0.00030031173066543147, + 9.813543147174641e-05 + ], + [ + 0.0005694882711395621, + 0.9999708891272644, + -0.007610381534163256, + 0.0006874139653518796 + ], + [ + 0.0003046545316465199, + 0.007610209374117826, + 0.9999710085309031, + -0.003368882928043604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999996423721313, + -0.000491665023855761, + -0.0006618326645092255, + 0.00031141110230237246 + ], + [ + 0.00048334861639887094, + 0.9999216869818905, + -0.012507788764669233, + -0.0009108115918934345 + ], + [ + 0.0006679304060526192, + 0.012507464396196502, + 0.999921568504363, + -0.003987522330135107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860659, + -0.0005764773942199357, + 3.762978950858349e-05, + -0.0003096305881626904 + ], + [ + 0.0005770738935098053, + 0.9998293810580955, + -0.018462995338367042, + -0.0014143093721941113 + ], + [ + -2.6979869289789356e-05, + 0.018463014570056054, + 0.9998295598079485, + -0.005179351195693016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.0006225343939666504, + 0.00013050975974663914, + -0.0005102494033053517 + ], + [ + 0.0006255596526898444, + 0.9996964858149046, + -0.024627235728413802, + -0.0016688131727278233 + ], + [ + -0.00011513884965097532, + 0.02462731130962674, + 0.9996967238947531, + -0.006680761463940144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998211860659, + -0.00035197255340961456, + 0.0004305773896860792, + -0.0008675864664837718 + ], + [ + 0.0003647689009085298, + 0.9995471645433536, + -0.03008910184552411, + -0.0022052505519241095 + ], + [ + -0.00041979184607043873, + 0.030089254243693964, + 0.9995471040778856, + -0.008260457776486874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999998211860657, + -4.4497604336793923e-05, + 0.0005724142709889981, + -0.0011874351184815168 + ], + [ + 6.425259198294953e-05, + 0.9994026891934127, + -0.03455811575076264, + -0.003372705541551113 + ], + [ + -0.0005705345538444817, + 0.03455814806692527, + 0.9994025101565741, + -0.00937980692833662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999994039535522, + 0.00038894535189005694, + 0.0010137421622985476, + -0.001550183747895062 + ], + [ + -0.00034843405592255294, + 0.9992131619618133, + -0.03966043303664379, + -0.004558708984404802 + ], + [ + -0.0010283703450113535, + 0.039660056752681555, + 0.9992126880821521, + -0.00991830788552761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0004319456831791574, + 0.0011116489553208337, + -0.0019222501432523131 + ], + [ + -0.00038108864100649953, + 0.9989710742443121, + -0.045349651214091125, + -0.005227948538959026 + ], + [ + -0.0011300938203930855, + 0.045349191904496655, + 0.9989705419272091, + -0.011009507812559605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999995231628418, + -0.0001251042765426916, + 0.0009908399991354073, + -0.0022963627707213163 + ], + [ + 0.00017466628924012184, + 0.9987402131006186, + -0.050179156505359875, + -0.006713402923196554 + ], + [ + -0.000983314123004675, + 0.05017930811680332, + 0.9987397346990473, + -0.012333687394857407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999990463256836, + -0.00032903480986781346, + 0.0013221170112511238, + -0.0024947435595095158 + ], + [ + 0.000402932200813666, + 0.9984145322117651, + -0.056287524837937225, + -0.007611848413944244 + ], + [ + -0.0013015002477914095, + 0.05628800780125563, + 0.9984137518518357, + -0.012358887121081352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999998927116394, + -0.0003752859154733625, + 0.0014312037183989183, + -0.002716036979109049 + ], + [ + 0.00046255943016149104, + 0.9981085081151643, + -0.06147472312359551, + -0.0089734997600317 + ], + [ + -0.0014054259518161416, + 0.061475315476416784, + 0.9981076066234139, + -0.012782684527337551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999980330467224, + 0.0006570165553039804, + 0.001856733335008463, + -0.003031916217878461 + ], + [ + -0.0005326622049324214, + 0.9978062958929353, + -0.06619908338866949, + -0.010432577691972256 + ], + [ + -0.0018961540190503001, + 0.06619796646196698, + 0.997804701545583, + -0.013005738146603107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999976158142092, + 0.0008016727684466463, + 0.002025018964323559, + -0.003073466708883643 + ], + [ + -0.0006536333821713925, + 0.9973989055422046, + -0.07207625270619594, + -0.011162465438246727 + ], + [ + -0.002077533164992929, + 0.07207475799469891, + 0.9973970795280604, + -0.013737659901380539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999986290931702, + 0.000484406028222327, + 0.0015793702319682236, + -0.0024126535281538963 + ], + [ + -0.000361402693670243, + 0.9970332318417022, + -0.07697164076074858, + -0.01252494752407074 + ], + [ + -0.0016119701322168112, + 0.0769709663592895, + 0.9970320502552692, + -0.01422838494181633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999995827674866, + -8.257628348544949e-05, + 0.0009276474530273149, + -0.001489407615736127 + ], + [ + 0.00015854515368118882, + 0.9966162047334346, + -0.08219527369908636, + -0.013432472012937069 + ], + [ + -0.0009177211322821677, + 0.08219538582927292, + 0.9966157855429693, + -0.01430044136941433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999999523162842, + -0.00033738714372723994, + 0.0008945742505611758, + -0.0010047043906524777 + ], + [ + 0.00041444358066655706, + 0.9961568176441906, + -0.08758680671105828, + -0.014218628406524658 + ], + [ + -0.0008615855476818981, + 0.08758714400134915, + 0.9961565134819023, + -0.0142919160425663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999999463558197, + -0.001017708229400958, + -0.00010595986222111346, + 5.966030585113913e-05 + ], + [ + 0.001003596349619329, + 0.9957365611956753, + -0.09223726542473343, + -0.015241778455674648 + ], + [ + 0.00019937873003073037, + 0.09223711068900084, + 0.9957370410893361, + -0.015259782783687115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999993443489075, + -0.0011377400889668176, + 8.183825914957654e-05, + 0.0007809969247318804 + ], + [ + 0.001140330801717937, + 0.9953429025466306, + -0.09639118764510976, + -0.01644832454621792 + ], + [ + 2.8210981326992624e-05, + 0.09639121464927286, + 0.9953434981674728, + -0.01406318973749876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999969601631165, + -0.0023799593170143302, + -0.0006780267970408319, + 0.0022332146763801575 + ], + [ + 0.002299327403306961, + 0.9948857689567081, + -0.10098003096075235, + -0.017396317794919014 + ], + [ + 0.0009148875251412392, + 0.10097816026690509, + 0.9948881938052986, + -0.014251215383410454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999968409538269, + -0.0024056492693431183, + -0.0007029353819081179, + 0.0029562662821263075 + ], + [ + 0.0023185093887150288, + 0.9944657156799419, + -0.10503604651830081, + -0.01850017160177231 + ], + [ + 0.0009517250582575798, + 0.10503408917775568, + 0.9944681446556111, + -0.013860838487744331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999991774559021, + -0.0038145030357018576, + -0.0013982618090929114, + 0.004090531263500452 + ], + [ + 0.003638705937191844, + 0.9939949761117225, + -0.10936506416407443, + -0.01978336088359356 + ], + [ + 0.0018070386722683907, + 0.10935907285402087, + 0.994000662905297, + -0.014089632779359818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999906420707703, + -0.003951962574648958, + -0.0017526764125099248, + 0.0050744363106787205 + ], + [ + 0.00372614455409348, + 0.9934603910084712, + -0.1141162385860433, + -0.020676186308264732 + ], + [ + 0.0021921976003795862, + 0.11410863894921122, + 0.9934658861628728, + -0.013121016323566437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999879598617554, + -0.004474614762199765, + -0.002009592652365492, + 0.005838269367814064 + ], + [ + 0.004206607583910227, + 0.993022215736777, + -0.1178522046568313, + -0.022190608084201813 + ], + [ + 0.002522913506254554, + 0.11784233635376111, + 0.9930290902632842, + -0.013534767553210258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999818801879885, + -0.005592668231688732, + -0.002240509068552656, + 0.0066935098730027676 + ], + [ + 0.005276717245578767, + 0.9924803792941708, + -0.12229018832965792, + -0.023030506446957588 + ], + [ + 0.0029075895436108117, + 0.12227614398832569, + 0.9924918502767879, + -0.013738475739955902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999849796295168, + -0.004925917911039763, + -0.0023937785819779216, + 0.007390693761408329 + ], + [ + 0.004585084505379201, + 0.9920206637292559, + -0.12599180288989484, + -0.02414102293550968 + ], + [ + 0.002995303366333247, + 0.12597893335649013, + 0.9920284208078745, + -0.013932609930634499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999788403511047, + -0.00590839783900719, + -0.0027264061059306126, + 0.00820022914558649 + ], + [ + 0.005504301283508539, + 0.9915154982479069, + -0.1298719373261568, + -0.025354595854878426 + ], + [ + 0.0034706087317317724, + 0.1298541785790307, + 0.99152705103877, + -0.01367635652422905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999780654907227, + -0.0059552807973510475, + -0.002888736444665645, + 0.009024633094668388 + ], + [ + 0.005516447592526674, + 0.9910367648312485, + -0.13347538384705526, + -0.02638869173824787 + ], + [ + 0.0036577272694557905, + 0.13345652144773182, + 0.991047894630154, + -0.013522149063646793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999730587005615, + -0.006661171468377311, + -0.0030813515512633227, + 0.009863413870334625 + ], + [ + 0.006175206508487463, + 0.9905155180755701, + -0.13726225600946573, + -0.02756858617067337 + ], + [ + 0.003966453950852156, + 0.13723952935544098, + 0.9905299523111325, + -0.013994305394589901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999645948410034, + -0.007545448406882393, + -0.003717985382782316, + 0.011090166866779327 + ], + [ + 0.006945493631064892, + 0.989973375403054, + -0.14108317886420416, + -0.02852090820670128 + ], + [ + 0.004745242651551962, + 0.1410523650217059, + 0.9899907842019209, + -0.013987242244184017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999567270278931, + -0.008373354917882481, + -0.004049846525800916, + 0.011954473331570625 + ], + [ + 0.007697951514273882, + 0.9894081946805636, + -0.14495562697039888, + -0.02944294363260269 + ], + [ + 0.00522071635350585, + 0.14491817692417586, + 0.989429859450442, + -0.013878150843083858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999955952167511, + -0.008383570940778417, + -0.004226244552930925, + 0.01275442074984312 + ], + [ + 0.007663073483854532, + 0.9888817627007366, + -0.14850642695346614, + -0.030603038147091866 + ], + [ + 0.005424270406365395, + 0.14846748745776275, + 0.9889023895169322, + -0.013486016541719437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999487400054932, + -0.009050863917880963, + -0.004540751371814147, + 0.01355811394751072 + ], + [ + 0.008255108259618282, + 0.9883329139490524, + -0.1520853047560213, + -0.03153128921985626 + ], + [ + 0.005864277482032776, + 0.1520400226791948, + 0.9883569161302254, + -0.013783551752567291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999465942382815, + -0.00919121130357537, + -0.004727394024342221, + 0.01429070346057415 + ], + [ + 0.008343743160367014, + 0.9877833489995885, + -0.15560983231782374, + -0.032523468136787415 + ], + [ + 0.006099884398281576, + 0.15556208170993638, + 0.9878072566574198, + -0.013291447423398495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999378323554993, + -0.010052314382320366, + -0.004824735939698241, + 0.015069966204464436 + ], + [ + 0.009155439212918282, + 0.9871859676675147, + -0.15931105758512273, + -0.03343311324715614 + ], + [ + 0.006364356726408005, + 0.15925698683637762, + 0.9872166745267592, + -0.01290565263479948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999374747276306, + -0.010102911283178705, + -0.004795867687525238, + 0.015417585149407387 + ], + [ + 0.00918886810541153, + 0.9866510871084675, + -0.1625888949226614, + -0.03451118618249893 + ], + [ + 0.006374469492584467, + 0.16253466452684384, + 0.9866822205503031, + -0.012648096308112144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999347925186157, + -0.010357201222673225, + -0.004815816545022703, + 0.015723275020718575 + ], + [ + 0.009416000917553902, + 0.9861262847441428, + -0.16572941915535247, + -0.035863474011421204 + ], + [ + 0.006465496029704809, + 0.16567326403527813, + 0.9861595276021656, + -0.012149394489824772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999240636825564, + -0.011146059874727447, + -0.005262138280855552, + 0.01638053171336651 + ], + [ + 0.010095249861478807, + 0.9855314590580123, + -0.16919173099687962, + -0.03679642826318741 + ], + [ + 0.007071823813021185, + 0.1691257429982286, + 0.985569114955372, + -0.012190347537398338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999223947525024, + -0.011322525840321942, + -0.005196205272522249, + 0.01684359461069107 + ], + [ + 0.010257035493850708, + 0.9849657178862271, + -0.17244513734822156, + -0.037718627601861954 + ], + [ + 0.007070598192512989, + 0.172378469725016, + 0.9850053883128894, + -0.010839552618563175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999918520450592, + -0.01170158561314686, + -0.005096020213121176, + 0.017143065109848976 + ], + [ + 0.010626294650137424, + 0.9844340616513672, + -0.17543285601882347, + -0.03893396630883217 + ], + [ + 0.007069538813084364, + 0.17536442718855388, + 0.9844781825102737, + -0.010347152128815651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999118447303772, + -0.012196387220004351, + -0.005249348947654016, + 0.01773201674222946 + ], + [ + 0.0110621377825737, + 0.983839258618445, + -0.1787120033017797, + -0.03979933634400368 + ], + [ + 0.007344156038016081, + 0.1786381641508426, + 0.983887402550185, + -0.010068587027490139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999906599521637, + -0.012658164738081828, + -0.0051521551536390705, + 0.01808307319879532 + ], + [ + 0.01151453796774149, + 0.9833606555588, + -0.18129869076031024, + -0.0408950075507164 + ], + [ + 0.007361335679888725, + 0.1812224262344073, + 0.9834146064326321, + -0.009241900406777859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999009370803835, + -0.013024866308939268, + -0.005338310966709162, + 0.018444782122969627 + ], + [ + 0.011820033192634586, + 0.982844450819367, + -0.18405727356213378, + -0.041869860142469406 + ], + [ + 0.007644050288945438, + 0.18397593795434528, + 0.9829009986544425, + -0.008689883165061474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9998984932899475, + -0.013170612029321837, + -0.005434214068003047, + 0.01866290345788002 + ], + [ + 0.011927659623324871, + 0.9824148634123017, + -0.18632973544850437, + -0.04293543100357056 + ], + [ + 0.007792729418724775, + 0.1862459921658162, + 0.9824722197640401, + -0.008907846175134182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998922348022461, + -0.013592218705719456, + -0.005547390611106155, + 0.019085275009274483 + ], + [ + 0.012298705987632275, + 0.9818915326867704, + -0.1890444322545895, + -0.043607812374830246 + ], + [ + 0.008016468957066536, + 0.1889558442853826, + 0.9819528678346533, + -0.008303912356495857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9998863339424133, + -0.013954087196253805, + -0.005705455613800946, + 0.01950186863541603 + ], + [ + 0.01260655838996172, + 0.9814814864266961, + -0.19114187379681946, + -0.044426120817661285 + ], + [ + 0.008267008699476719, + 0.19104822000472887, + 0.9815458084762073, + -0.008088046684861183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9998870491981506, + -0.013950641322782342, + -0.005591301403343054, + 0.01960563473403454 + ], + [ + 0.012606004253029823, + 0.9810346043121806, + -0.19342221856965747, + -0.04507220908999443 + ], + [ + 0.008183623664081097, + 0.1933298947816911, + 0.9810996828979901, + -0.007604801561683416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9998830556869509, + -0.014202657000035264, + -0.005670117005583092, + 0.019845006987452507 + ], + [ + 0.01282433141022921, + 0.9807119757494085, + -0.19503732711180977, + -0.046195924282073975 + ], + [ + 0.008330799639225008, + 0.19494179472460255, + 0.9807794218119754, + -0.007212352938950062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998743534088135, + -0.014735188619746629, + -0.005839398273682194, + 0.02020304463803768 + ], + [ + 0.013297966681420803, + 0.9803488368334109, + -0.19682317308085637, + -0.047107502818107605 + ], + [ + 0.00862487405538559, + 0.19672080641889042, + 0.9804216003968166, + -0.006927833892405033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998693466186523, + -0.015029486055566553, + -0.0059484643453813265, + 0.02057998813688755 + ], + [ + 0.013547701761126518, + 0.9799553418087212, + -0.19875611563928247, + -0.04778096079826355 + ], + [ + 0.008816431276500225, + 0.19864956220719465, + 0.9800309046592247, + -0.006145474500954151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998595714569092, + -0.015512066691304388, + -0.006338409390234216, + 0.021542778238654137 + ], + [ + 0.013929042965173721, + 0.9796463099132087, + -0.2002477083905428, + -0.0485699437558651 + ], + [ + 0.009315654635429382, + 0.20013131086683625, + 0.9797248223781164, + -0.005440194625407457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.99983811378479, + -0.016577834422539114, + -0.006996512297161905, + 0.022765101864933968 + ], + [ + 0.014823892153799534, + 0.979284388793257, + -0.20194650537036093, + -0.04930426552891731 + ], + [ + 0.01019941084086895, + 0.20181009208143955, + 0.9793715940930886, + -0.004251450765877962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999832272529602, + -0.016875431265205913, + -0.0071201653130407196, + 0.023687008768320084 + ], + [ + 0.015072676353156567, + 0.9789344151967215, + -0.20361788934982325, + -0.04989033192396164 + ], + [ + 0.0104063143953681, + 0.20347642218837936, + 0.979024525063793, + -0.0034567154943943024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998214244842529, + -0.017238010244773557, + -0.007746958929559041, + 0.02468753047287464 + ], + [ + 0.015287255868315697, + 0.9786942303548619, + -0.2047533005164215, + -0.050870563834905624 + ], + [ + 0.011111442930996418, + 0.20459828655858545, + 0.9787829286094867, + -0.0026733633130788803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998136162757874, + -0.01760082437492822, + -0.007931636239391764, + 0.025235474109649658 + ], + [ + 0.015583737753331661, + 0.9783122518491241, + -0.20654855201246028, + -0.051332324743270874 + ], + [ + 0.011395041830837727, + 0.2063864504456745, + 0.9784041909922087, + -0.0025110829155892134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998005628585815, + -0.018257930687075197, + -0.008092796658325702, + 0.025698252022266388 + ], + [ + 0.016178036108613014, + 0.9780296064723931, + -0.20783743785548886, + -0.05214390531182289 + ], + [ + 0.011709675192832947, + 0.2076650490533507, + 0.978129898899899, + -0.0015940000303089619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997970461845398, + -0.018484786635449415, + -0.008011824273810954, + 0.025889158248901367 + ], + [ + 0.016401536762714386, + 0.9777541885144027, + -0.20911192359187225, + -0.05281933397054672 + ], + [ + 0.011698983609676361, + 0.20893806374017254, + 0.9778588966075656, + -0.0005477115628309548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997977614402771, + -0.018477638725660623, + -0.007936537941341566, + 0.025774233043193817 + ], + [ + 0.016394739970564842, + 0.9774740892993407, + -0.2104176460183779, + -0.053400758653879166 + ], + [ + 0.011645781807601452, + 0.21024497217750543, + 0.9775793428407045, + -0.00011145701864734292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997919797897339, + -0.01876430660947962, + -0.007996806650892833, + 0.025967955589294434 + ], + [ + 0.016652172431349754, + 0.9772876948687265, + -0.2112616543590004, + -0.054223883897066116 + ], + [ + 0.0117793595418334, + 0.21108453370512326, + 0.9773968472021841, + 0.0004998772055841982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997996091842651, + -0.018299606411815675, + -0.008115002501009822, + 0.02606465294957161 + ], + [ + 0.01615651696920395, + 0.9770004741609447, + -0.21262405412017224, + -0.05448106676340103 + ], + [ + 0.011819298379123211, + 0.21245034152770825, + 0.9771004077804665, + 0.0006686440319754183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999782145023346, + -0.019129351225522385, + -0.008352052920337687, + 0.026739612221717834 + ], + [ + 0.0169038325548172, + 0.9767588346685959, + -0.2136736599159227, + -0.055144473910331726 + ], + [ + 0.012245379388332367, + 0.21348592356253368, + 0.9768694217634479, + 0.002109290100634098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997619986534119, + -0.0200281773891679, + -0.008652355867591794, + 0.027445081621408463 + ], + [ + 0.017703456804156303, + 0.9765026789880029, + -0.21477684018689874, + -0.0555897131562233 + ], + [ + 0.012750637717545033, + 0.21457253671549795, + 0.9766248452690073, + 0.0030260502826422453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997566938400269, + -0.020247559361834915, + -0.008748251182470418, + 0.02787570282816887 + ], + [ + 0.017886528745293617, + 0.9763220530679917, + -0.21558135141287862, + -0.056170862168073654 + ], + [ + 0.012906107120215893, + 0.2153724436421098, + 0.9764466941729067, + 0.003390057012438774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.999770998954773, + -0.01971457446200769, + -0.00832107316537855, + 0.027883637696504593 + ], + [ + 0.017449626699090004, + 0.9761829526312407, + -0.2162460154519816, + -0.056701354682445526 + ], + [ + 0.012386088259518147, + 0.2160513058428796, + 0.976303422274194, + 0.004530639387667179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997704625129702, + -0.01976841353984033, + -0.008260797687858291, + 0.028033964335918427 + ], + [ + 0.017509605735540393, + 0.9760833859361104, + -0.21669022451138803, + -0.05733335763216019 + ], + [ + 0.01234684977680445, + 0.21649583906513492, + 0.9762054361033107, + 0.005532256793230772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997594952583313, + -0.020134771611017524, + -0.008693671541213694, + 0.02843421697616577 + ], + [ + 0.017765773460268974, + 0.97594724082752, + -0.21728174577886242, + -0.05779590457677841 + ], + [ + 0.012859483249485493, + 0.21707502711404347, + 0.9760701875930343, + 0.005937185138463974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997507333755493, + -0.02070792676424823, + -0.008343139456424464, + 0.028537532314658165 + ], + [ + 0.018396969884634018, + 0.9758597733108657, + -0.21762174565415993, + -0.05849913880228996 + ], + [ + 0.01264822855591774, + 0.21741401017519527, + 0.9759975039224507, + 0.00718725798651576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997425675392151, + -0.02099021491170216, + -0.008616159801926425, + 0.028817806392908096 + ], + [ + 0.01860818825662136, + 0.9757725678265536, + -0.21799462632906422, + -0.05904177203774452 + ], + [ + 0.012983166612684727, + 0.21777818527457965, + 0.9759119213062402, + 0.007719045039266348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997243881225586, + -0.02180545466166228, + -0.008696491027281457, + 0.029031870886683464 + ], + [ + 0.019378943368792534, + 0.9756348436879753, + -0.21854313450403834, + -0.059486955404281616 + ], + [ + 0.013250031508505344, + 0.2183143656317787, + 0.9757885529719579, + 0.008053482510149479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9997348785400391, + -0.021322161780853346, + -0.008690725857805682, + 0.029299406334757805 + ], + [ + 0.018909284844994545, + 0.9756562492736471, + -0.21848885936974655, + -0.0602351613342762 + ], + [ + 0.013137814588844776, + 0.2182666104023168, + 0.9758007536037268, + 0.009355636313557625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9997337460517883, + -0.021390450407170226, + -0.008655481131742413, + 0.02977558597922325 + ], + [ + 0.01898120902478695, + 0.9756146170376292, + -0.21866841080411978, + -0.06079120561480522 + ], + [ + 0.01312183029949665, + 0.218445903154698, + 0.975760840452533, + 0.010820712894201279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997256994247439, + -0.021661123976260688, + -0.008904843546087149, + 0.03038761392235756 + ], + [ + 0.01918907463550568, + 0.9755811462296506, + -0.21879937379036477, + -0.06145079806447029 + ], + [ + 0.013426837511360649, + 0.21856849266508557, + 0.9757292629615554, + 0.011052079498767853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997058510780334, + -0.022233747050286096, + -0.009689241688320993, + 0.031352683901786804 + ], + [ + 0.01956583932042122, + 0.9754118524894523, + -0.21951957621994686, + -0.06157388910651207 + ], + [ + 0.01433174405246973, + 0.21926542999561333, + 0.9755599848316501, + 0.010647074319422245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996969699859621, + -0.022652971946183275, + -0.00963233844898866, + 0.031820088624954224 + ], + [ + 0.019990118220448497, + 0.9754454666800202, + -0.21933195645969492, + -0.062482934445142746 + ], + [ + 0.01436434127390385, + 0.21907293674353476, + 0.9756027347554969, + 0.011660589836537838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9997143149375918, + -0.022054253662204776, + -0.009211075930645102, + 0.03209565952420235 + ], + [ + 0.019497841596603397, + 0.9754493413759773, + -0.2193591118370324, + -0.06315310299396515 + ], + [ + 0.01382273901253939, + 0.21911685956219015, + 0.9756007280352332, + 0.01459128875285387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997217059135439, + -0.02176655177340489, + -0.009096749069875181, + 0.03243524208664894 + ], + [ + 0.019237425178289417, + 0.9753780101600807, + -0.2196988952915247, + -0.06366166472434998 + ], + [ + 0.01365485601127148, + 0.21946275731942827, + 0.9755253374835889, + 0.01653154380619526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997015595436096, + -0.022580483691773685, + -0.009322382818070032, + 0.0331103540956974 + ], + [ + 0.019977083429694176, + 0.9752860180327146, + -0.22004109387667858, + -0.06416729092597961 + ], + [ + 0.014060623943805695, + 0.21978920132623894, + 0.9754460480373881, + 0.017970863729715347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996483922004702, + -0.02449387664948532, + -0.010157374558150896, + 0.033645715564489365 + ], + [ + 0.021647471934556965, + 0.9750665336065166, + -0.22085436182054913, + -0.06448404490947723 + ], + [ + 0.015313696116209034, + 0.22055681620705903, + 0.9752539348422409, + 0.016449173912405968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999697208404541, + -0.022695347852497518, + -0.009506204999513785, + 0.033485498279333115 + ], + [ + 0.020036322996020317, + 0.9750930759781941, + -0.22088928703523172, + -0.06503473222255707 + ], + [ + 0.014282593503594398, + 0.22063194462028304, + 0.9752525713509945, + 0.02060611918568611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996582865715027, + -0.024174803625091595, + -0.009946456382196125, + 0.03383142128586769 + ], + [ + 0.02137216180562973, + 0.9749165738137743, + -0.22154211111703523, + -0.06542202830314636 + ], + [ + 0.015052701346576214, + 0.22125382724156917, + 0.9751000860562153, + 0.020036302506923676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.999640941619873, + -0.02480016075610761, + -0.01014841989849884, + 0.033970907330513 + ], + [ + 0.02192893996834755, + 0.9747830252682479, + -0.2220747670160744, + -0.06580289453268051 + ], + [ + 0.015399996191263199, + 0.2217724806840478, + 0.9749768270057451, + 0.019163403660058975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9996275901794434, + -0.025080733769171984, + -0.010753348499001072, + 0.03415047377347946 + ], + [ + 0.022066855803132057, + 0.9747590014220701, + -0.22216649589825022, + -0.06636672466993332 + ], + [ + 0.016054021194577217, + 0.22184646395513372, + 0.9749494637158754, + 0.016896191984415054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996300935745239, + -0.02505042049748414, + -0.010588547446758781, + 0.03423687443137169 + ], + [ + 0.02206859178841114, + 0.9746851976109219, + -0.22248994968037142, + -0.06691130250692368 + ], + [ + 0.01589396595954895, + 0.2221739777707523, + 0.974877459946447, + 0.018333327025175095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996254444122314, + -0.025096304233774624, + -0.010916682315555913, + 0.03444426879286766 + ], + [ + 0.022038670256733894, + 0.9746619015198887, + -0.2225948383725929, + -0.06745888292789459 + ], + [ + 0.016226381063461304, + 0.22227086727747128, + 0.9748499040654549, + 0.016820799559354782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9995955228805542, + -0.026155954708339264, + -0.011165963535691291, + 0.0349738709628582 + ], + [ + 0.023007644340395927, + 0.9745221167756328, + -0.22310826174173726, + -0.06783650070428848 + ], + [ + 0.016717087477445602, + 0.2227611242640507, + 0.9747297115566734, + 0.016738038510084152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9995813369750979, + -0.02635881819048936, + -0.011930740940509086, + 0.03572645038366318 + ], + [ + 0.023032458499073986, + 0.974488749182353, + -0.22325146771163973, + -0.06826625019311905 + ], + [ + 0.01751101762056351, + 0.22288320503437042, + 0.9746878924987213, + 0.01468749064952135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9995695948600771, + -0.026703234481041036, + -0.012146262290567951, + 0.036353182047605515 + ], + [ + 0.023311160504817966, + 0.9743688065130349, + -0.22374550502098875, + -0.06862624734640121 + ], + [ + 0.017809668555855755, + 0.22336607654868135, + 0.9745719295245369, + 0.0165860615670681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9995531439781189, + -0.027163456153088485, + -0.012477845153081417, + 0.03673724830150604 + ], + [ + 0.023682160302996635, + 0.9743163763293861, + -0.22393482473066076, + -0.06914171576499939 + ], + [ + 0.01824021153151989, + 0.2235392500198089, + 0.9745242354279703, + 0.015941288322210312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9995465278625488, + -0.027341075910613796, + -0.012617011984300487, + 0.03715837374329567 + ], + [ + 0.023828625679016113, + 0.9743668718151066, + -0.22369941894373593, + -0.06995262205600739 + ], + [ + 0.01840978115797043, + 0.2232973232785045, + 0.9745765091459577, + 0.01627822406589985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995197057723999, + -0.028460038979704023, + -0.012264863290994675, + 0.03733469918370247 + ], + [ + 0.024984151124954224, + 0.9741679314831955, + -0.22443837025387361, + -0.07034894824028015 + ], + [ + 0.018335562199354172, + 0.22402414701130421, + 0.974411078752024, + 0.01801830343902111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9995073080062866, + -0.02891658397530647, + -0.012205334493026672, + 0.03747095167636871 + ], + [ + 0.025438915938138962, + 0.974112910813191, + -0.22462614390163937, + -0.07094790041446686 + ], + [ + 0.018384795635938644, + 0.22420497648876458, + 0.9743685846561926, + 0.01812712661921978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9995187520980835, + -0.028556482324249705, + -0.012117143603580812, + 0.037715062499046326 + ], + [ + 0.025100022554397583, + 0.9740264567026673, + -0.22503864880919655, + -0.0713663101196289 + ], + [ + 0.01822873018682003, + 0.22462620610208564, + 0.9742744859609738, + 0.02038525976240635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9995051622390749, + -0.029022530576615278, + -0.01213061735749138, + 0.03789731115102768 + ], + [ + 0.025541573762893684, + 0.9738973325028544, + -0.22554740783908608, + -0.0717659592628479 + ], + [ + 0.018359933048486713, + 0.22512596391772796, + 0.9741566820672964, + 0.020610066130757332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9995095729827881, + -0.02892714492130002, + -0.011992401317052133, + 0.0381375290453434 + ], + [ + 0.025472376495599747, + 0.9738076423421439, + -0.22594212364218105, + -0.07222750782966614 + ], + [ + 0.01821415312588215, + 0.22552584191716116, + 0.9740668944919204, + 0.02290899120271206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9995058178901672, + -0.029020179220390675, + -0.012081352689494222, + 0.0381505973637104 + ], + [ + 0.025542110204696655, + 0.973795346665016, + -0.22598712751601813, + -0.07287516444921494 + ], + [ + 0.018322952091693878, + 0.2255668670798175, + 0.9740553433809299, + 0.021152695640921593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9994924664497375, + -0.029419380872548268, + -0.012219200290585595, + 0.03855729103088379 + ], + [ + 0.02589067444205284, + 0.9736730911918182, + -0.22647370970720446, + -0.07330238819122314 + ], + [ + 0.018560223281383514, + 0.22604241172398348, + 0.9739406563713472, + 0.022468144074082375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999492883682251, + -0.029355656608552178, + -0.01234000140760859, + 0.0388127900660038 + ], + [ + 0.02579568699002266, + 0.9736076972394043, + -0.22676568766573718, + -0.07379429787397385 + ], + [ + 0.018671175464987755, + 0.22633236260895243, + 0.9738711458244451, + 0.02280120924115181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9994984269142151, + -0.029143934824426954, + -0.012389406467058453, + 0.038906171917915344 + ], + [ + 0.025576451793313026, + 0.9735914643716068, + -0.2268601998783476, + -0.07442165911197662 + ], + [ + 0.018673818558454514, + 0.22642953703879015, + 0.9738485459148761, + 0.023321500048041344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9994714856147766, + -0.02999003554271277, + -0.01254585929326612, + 0.03929644078016281 + ], + [ + 0.026352420449256897, + 0.9734181937982771, + -0.2275137725965917, + -0.07473567873239517 + ], + [ + 0.01903551258146763, + 0.2270629116650726, + 0.9736940484637492, + 0.02393227443099022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9994606375694277, + -0.030363648746158062, + -0.012511200489712035, + 0.03947049379348755 + ], + [ + 0.02671919949352742, + 0.9733490262212493, + -0.22776700863879493, + -0.07531558722257614 + ], + [ + 0.01909360103309155, + 0.22730986450846197, + 0.9736353060218728, + 0.025286417454481125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9994648098945618, + -0.030217881237690546, + -0.012528724306311434, + 0.03969639167189598 + ], + [ + 0.026563994586467743, + 0.9732425604626794, + -0.22823947282674253, + -0.07568101584911346 + ], + [ + 0.019090401008725166, + 0.22778450563513, + 0.973524406975231, + 0.02702300436794758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9994462728500366, + -0.03083149555515297, + -0.012514493735967627, + 0.03952622786164284 + ], + [ + 0.027161020785570145, + 0.9731817366894893, + -0.2284285018189346, + -0.07629043608903885 + ], + [ + 0.01922166720032692, + 0.22796209961825872, + 0.9734802603111756, + 0.025298431515693665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9994392395019531, + -0.03099611385679484, + -0.012665167595319618, + 0.03954664245247841 + ], + [ + 0.02728223241865635, + 0.9731226693870397, + -0.22866557080247418, + -0.07687391340732574 + ], + [ + 0.019412504509091377, + 0.22819181527942853, + 0.9734226682458889, + 0.025417713448405266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9994259476661682, + -0.031316363461989336, + -0.012923934094217684, + 0.039786163717508316 + ], + [ + 0.027526669204235077, + 0.9730193260099814, + -0.2290757750767547, + -0.07734609395265579 + ], + [ + 0.019749056547880173, + 0.22858852386979864, + 0.9733227947597723, + 0.026249203830957413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9994125962257385, + -0.03159228689074017, + -0.01327987569239299, + 0.040096402168273926 + ], + [ + 0.02771395444869995, + 0.9730143808542566, + -0.22907407405573318, + -0.07806244492530823 + ], + [ + 0.02015848457813263, + 0.22857148465416513, + 0.9733183874915721, + 0.02714345045387745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9994140863418579, + -0.03153471640702479, + -0.013307475278841532, + 0.04041806235909462 + ], + [ + 0.027649175375699997, + 0.9729887494148778, + -0.22919080828435293, + -0.0787440687417984 + ], + [ + 0.020175490528345108, + 0.2286885784723089, + 0.9732905598998538, + 0.02889697626233101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9993823766708374, + -0.032628808373252556, + -0.013045974858465544, + 0.040757350623607635 + ], + [ + 0.028758905827999115, + 0.9727831145993466, + -0.22992596171652738, + -0.07903607189655304 + ], + [ + 0.02019311487674713, + 0.22940877242546867, + 0.9731206492200604, + 0.02975914254784584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9993746876716614, + -0.03284978824568886, + -0.013080774113105468, + 0.04073582962155342 + ], + [ + 0.028972575441002846, + 0.9728511049523263, + -0.22961125063449583, + -0.07992833852767944 + ], + [ + 0.02026832476258278, + 0.22908869369891002, + 0.9731945437277622, + 0.029026158154010773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9993398189544678, + -0.03387115419075614, + -0.013142347167496104, + 0.041318703442811966 + ], + [ + 0.0299526397138834, + 0.9728204166872324, + -0.22961553862358805, + -0.08071426302194595 + ], + [ + 0.020562488585710526, + 0.229070299651315, + 0.9731926716753798, + 0.030389979481697083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9993187785148621, + -0.034439524592093824, + -0.013260879633792567, + 0.04178585484623909 + ], + [ + 0.03046879917383194, + 0.9726942675613408, + -0.2300815381721757, + -0.08120443671941757 + ], + [ + 0.020822681486606598, + 0.22952076141583233, + 0.9730810019727035, + 0.031091446056962013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9993188381195071, + -0.03445224194772113, + -0.013226321407493769, + 0.04197690263390541 + ], + [ + 0.030484065413475044, + 0.9726378801984438, + -0.23031776938950418, + -0.08172162622213364 + ], + [ + 0.02079938352108002, + 0.229757695474605, + 0.9730255743719577, + 0.030497875064611435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9993202090263369, + -0.03443352120041408, + -0.013171626711123822, + 0.04215650260448456 + ], + [ + 0.03046775050461293, + 0.9725198631129344, + -0.23081782124005848, + -0.08219257742166519 + ], + [ + 0.020757537335157398, + 0.230259596922804, + 0.9729078310637446, + 0.03123638778924942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9992964267730713, + -0.03500081803312159, + -0.013477444430768069, + 0.04273068904876709 + ], + [ + 0.03094618022441864, + 0.9724696737400798, + -0.23096558889058288, + -0.08289573341608047 + ], + [ + 0.02119038999080658, + 0.23038600668255718, + 0.9728685513292576, + 0.031967662274837494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992730021476746, + -0.03561577647012291, + -0.013600197680578576, + 0.043147407472133636 + ], + [ + 0.03151218593120575, + 0.9724066519461015, + -0.2311541273840043, + -0.08358673751354218 + ], + [ + 0.021457655355334282, + 0.23055751683337694, + 0.9728220652731565, + 0.03248366340994835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992691278457644, + -0.035617720145274014, + -0.013877063896740819, + 0.043627768754959106 + ], + [ + 0.03144268319010735, + 0.9723285972198863, + -0.23149179615091592, + -0.08415839076042175 + ], + [ + 0.021738275885581974, + 0.23088627339068576, + 0.9727379036026983, + 0.032897841185331345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992501735687256, + -0.03604283858924978, + -0.014143249595947226, + 0.04425223544239998 + ], + [ + 0.03178578242659569, + 0.9722222067666981, + -0.2318914491954612, + -0.08471427857875824 + ], + [ + 0.022108405828475952, + 0.2312680084601502, + 0.9726388627109933, + 0.033951397985219955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992337822914126, + -0.03640949130423395, + -0.014361491870003993, + 0.044729214161634445 + ], + [ + 0.03208186477422715, + 0.9721071195626161, + -0.2323328259252386, + -0.085255928337574 + ], + [ + 0.022420030087232593, + 0.23169405752330266, + 0.9725302860140181, + 0.03467298299074173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992116689682007, + -0.03698178792032167, + -0.014436402072537602, + 0.045148152858018875 + ], + [ + 0.032605476677417755, + 0.9719273420143814, + -0.2330109906358569, + -0.0856403037905693 + ], + [ + 0.022648297250270844, + 0.2323566000178784, + 0.9723669560363226, + 0.03546705096960068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992060661315918, + -0.03713272194513194, + -0.014434150983063342, + 0.04538557678461075 + ], + [ + 0.032738931477069855, + 0.9717800898875932, + -0.2336056645054911, + -0.08604834228754044 + ], + [ + 0.022701233625411987, + 0.23294764191805242, + 0.972224302613048, + 0.03608431667089462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9991850256919861, + -0.03769543551484067, + -0.014435583740782786, + 0.045734383165836334 + ], + [ + 0.033270396292209625, + 0.9716035454176147, + -0.23426409224285397, + -0.08644884079694748 + ], + [ + 0.022856350988149643, + 0.23359288056520158, + 0.9720658075538038, + 0.03709905594587326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991856217384341, + -0.037673549173523065, + -0.01444812675752889, + 0.045947685837745667 + ], + [ + 0.03323334455490113, + 0.9714731201156204, + -0.2348094791136122, + -0.08694324642419815 + ], + [ + 0.022882074117660526, + 0.23413809312741687, + 0.971934008514963, + 0.03782973438501358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9991663098335266, + -0.03812392524125142, + -0.014602606920606812, + 0.04620450362563133 + ], + [ + 0.03362109512090683, + 0.9713180045021597, + -0.23539536750943174, + -0.08743751794099808 + ], + [ + 0.02315797097980976, + 0.2347081628515549, + 0.9717900174068171, + 0.03811860457062721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9991557598114014, + -0.038332781878606476, + -0.014776820300931442, + 0.04645153880119324 + ], + [ + 0.033770665526390076, + 0.9711861406468681, + -0.23591743502778056, + -0.08792895078659058 + ], + [ + 0.02339441515505314, + 0.23521923895293917, + 0.9716607661015259, + 0.0383283756673336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9991369247436523, + -0.03881909090187193, + -0.014779451255900602, + 0.04668451473116875 + ], + [ + 0.03422035276889801, + 0.9709453029356068, + -0.2368421726588392, + -0.0883801281452179 + ], + [ + 0.023544035851955414, + 0.23613199697354142, + 0.9714357047185739, + 0.039271995425224304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9991523027420044, + -0.03841151955796984, + -0.014804659258450021, + 0.04670023173093796 + ], + [ + 0.033802397549152374, + 0.9707989948415948, + -0.2375010318098076, + -0.08877066522836685 + ], + [ + 0.023495124652981758, + 0.23679927607705456, + 0.9712744628936109, + 0.03907160088419914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9991254806518557, + -0.0391375235706164, + -0.014715917246387003, + 0.04688188433647156 + ], + [ + 0.03450457379221917, + 0.9705296670218911, + -0.23849872372158304, + -0.08935081958770752 + ], + [ + 0.02361648157238961, + 0.2377823866112319, + 0.9710313116442697, + 0.0397443026304245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9991069436073303, + -0.03961639132879749, + -0.014691561336421365, + 0.04707174375653267 + ], + [ + 0.034951452165842056, + 0.9702709681148289, + -0.23948416927122307, + -0.08985612541437149 + ], + [ + 0.023742295801639557, + 0.23875681070840116, + 0.970789109042309, + 0.04022901505231857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9990937113761902, + -0.0399582430921253, + -0.01466803769553321, + 0.04718850925564766 + ], + [ + 0.03526526317000389, + 0.9700197935704056, + -0.24045374618526488, + -0.09033229202032089 + ], + [ + 0.023836394771933556, + 0.23971855269427525, + 0.97054978617598, + 0.040597956627607346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990951418876648, + -0.0399651126224724, + -0.014550592167641478, + 0.04717709869146347 + ], + [ + 0.035267751663923264, + 0.9696911021116422, + -0.24177552197610147, + -0.09063555300235748 + ], + [ + 0.023772163316607475, + 0.24104356842873115, + 0.9702231058307369, + 0.04071982577443123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990705847740173, + -0.04055829461532771, + -0.014595261469212008, + 0.047417521476745605 + ], + [ + 0.035809703171253204, + 0.9694387415722041, + -0.24270605164582537, + -0.09133337438106537 + ], + [ + 0.023992955684661865, + 0.2419578173697987, + 0.9699900701819631, + 0.04091719165444374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9990582466125488, + -0.04087280065838132, + -0.01456263504620441, + 0.04750050976872444 + ], + [ + 0.03607955947518349, + 0.9689910843747581, + -0.24444736533044686, + -0.09165119379758835 + ], + [ + 0.024102313444018364, + 0.24369173009556278, + 0.9695531790454139, + 0.04172636196017265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990628957748415, + -0.04082953751676962, + -0.014361664693118977, + 0.047423917800188065 + ], + [ + 0.03605372458696366, + 0.9686550225022249, + -0.24577942680578996, + -0.09220242500305176 + ], + [ + 0.023946559056639678, + 0.24503133024487828, + 0.9692194121673109, + 0.04181263968348503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9990400075912476, + -0.041374291978609444, + -0.01439600589375863, + 0.04747043922543526 + ], + [ + 0.03653527423739433, + 0.9682466546403612, + -0.2473127643813077, + -0.0926530659198761 + ], + [ + 0.02417127415537834, + 0.24654937633282373, + 0.9688287438087976, + 0.04303529113531113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990288615226746, + -0.04173192008115091, + -0.014132327578789846, + 0.04740149900317192 + ], + [ + 0.036917321383953094, + 0.9679265923284801, + -0.24850592880476624, + -0.09331569820642471 + ], + [ + 0.024049686267971992, + 0.24774287735096467, + 0.9685272537855589, + 0.04254648834466934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999019265174866, + -0.04199595447381915, + -0.014030979102022785, + 0.04747234657406807 + ], + [ + 0.037152178585529334, + 0.9674394958460169, + -0.25036073951259763, + -0.09370554238557816 + ], + [ + 0.024088261649012573, + 0.2495939212904705, + 0.9680509200710319, + 0.04334793612360954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990242719650269, + -0.041931081470133094, + -0.013865712164049911, + 0.04742570221424103 + ], + [ + 0.03709928318858147, + 0.967112787157235, + -0.2516276928959307, + -0.09442979097366333 + ], + [ + 0.02396073006093502, + 0.2508677769800988, + 0.9677247859340523, + 0.04364026337862015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990111589431765, + -0.04227930892098795, + -0.013753545553454283, + 0.04742572084069252 + ], + [ + 0.037427417933940894, + 0.9667089980795096, + -0.25312623024485137, + -0.09496574103832245 + ], + [ + 0.023997679352760322, + 0.2523611673476507, + 0.9673354832053189, + 0.04394067823886871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9989948868751526, + -0.04270141390213239, + -0.013631149524131487, + 0.04748887941241264 + ], + [ + 0.03782960772514343, + 0.9663002768508986, + -0.25462267192061444, + -0.09553488343954086 + ], + [ + 0.02404453232884407, + 0.2538510883458574, + 0.9669444356073011, + 0.04458121582865715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989892244338989, + -0.042869103026895915, + -0.013521155983930947, + 0.04753521457314491 + ], + [ + 0.03799070417881012, + 0.9659849663666877, + -0.25579232212934283, + -0.0961608812212944 + ], + [ + 0.024026822298765182, + 0.255020094644566, + 0.9666372095220143, + 0.04459778219461441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989835619926453, + -0.043037705480402796, + -0.013402707829928646, + 0.04757046326994896 + ], + [ + 0.038152869790792465, + 0.9656460021194875, + -0.2570450020033475, + -0.09668378531932831 + ], + [ + 0.024004897102713585, + 0.2562723818613826, + 0.9663064759685288, + 0.04514923319220543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9989630579948428, + -0.04351484428620869, + -0.013390904129386967, + 0.04764494672417641 + ], + [ + 0.03858232498168946, + 0.965257249517643, + -0.25843721157487304, + -0.09705813229084015 + ], + [ + 0.024171523749828346, + 0.2576525672194917, + 0.9659352354158647, + 0.04490828514099121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989458322525024, + -0.04389866534098881, + -0.013420205445876588, + 0.047766152769327164 + ], + [ + 0.03891115263104439, + 0.9648763931692524, + -0.259806493983941, + -0.09736909717321396 + ], + [ + 0.0243539996445179, + 0.25901042517413375, + 0.9655674222156309, + 0.04552222788333893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9989267587661743, + -0.044314148244513324, + -0.013473971409545652, + 0.04787991940975189 + ], + [ + 0.03926747292280197, + 0.9645321484306191, + -0.2610283598494732, + -0.09783123433589935 + ], + [ + 0.024563327431678772, + 0.260219127136915, + 0.9652370763971011, + 0.04589029774069786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9989067912101746, + -0.044760975801746754, + -0.013480000877227415, + 0.047968920320272446 + ], + [ + 0.03966214507818222, + 0.9641428904834287, + -0.262403019156266, + -0.09811504930257797 + ], + [ + 0.024742061272263527, + 0.26158150593335955, + 0.9648642058209681, + 0.04622414708137512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9988970756530764, + -0.04495802868912016, + -0.013541695395678646, + 0.04816143214702606 + ], + [ + 0.03980886191129685, + 0.9638476856247945, + -0.26346316325695723, + -0.09854242950677872 + ], + [ + 0.024896916002035148, + 0.26263352085404446, + 0.9645744137921975, + 0.046626977622509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9988951086997986, + -0.0449639146541309, + -0.013667899752032914, + 0.048376068472862244 + ], + [ + 0.03975015878677368, + 0.963520628658381, + -0.26466566789030854, + -0.09875418245792389 + ], + [ + 0.02506970800459385, + 0.2638299501970709, + 0.9642433899313763, + 0.047145597636699677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988815188407898, + -0.04524097547494384, + -0.013745196995761282, + 0.04854843392968178 + ], + [ + 0.039969220757484436, + 0.9632194419568986, + -0.265726850098981, + -0.09912055730819702 + ], + [ + 0.02526138350367546, + 0.2648802604453011, + 0.9639503458811044, + 0.047628287225961685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.998871982097626, + -0.045456834932658716, + -0.013727754148486131, + 0.04872122034430504 + ], + [ + 0.0401548594236374, + 0.9629261704708643, + -0.2667597864265517, + -0.0995170921087265 + ], + [ + 0.025344867259264, + 0.26590763358607455, + 0.9636652631139233, + 0.047784917056560516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9988606572151184, + -0.04573159832695848, + -0.013636967970617404, + 0.04888183996081352 + ], + [ + 0.040410760790109634, + 0.9625658797401819, + -0.26801846112844485, + -0.09977363795042038 + ], + [ + 0.025383394211530685, + 0.2671620243712237, + 0.9633172534973703, + 0.04793718457221985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9988529682159424, + -0.04590832609742014, + -0.013606904863240704, + 0.04904612898826599 + ], + [ + 0.04056333377957344, + 0.9622870912529358, + -0.26899464348907964, + -0.10022421181201935 + ], + [ + 0.02544284425675869, + 0.268134164076351, + 0.963045520968837, + 0.048289865255355835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9988267421722412, + -0.04644540281729917, + -0.013707896329475649, + 0.04934912174940109 + ], + [ + 0.04102405160665512, + 0.9619568779620553, + -0.27010367058523854, + -0.10062175244092941 + ], + [ + 0.02573147974908352, + 0.269224418212904, + 0.9627336616672844, + 0.04831768572330475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.99881911277771, + -0.046587566668999325, + -0.013781616588711396, + 0.0495990514755249 + ], + [ + 0.04111025109887123, + 0.9616299397355897, + -0.27125226965880916, + -0.10092215985059738 + ], + [ + 0.025889798998832703, + 0.27036538890508577, + 0.9624096019867009, + 0.04855361580848694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9988041520118713, + -0.04687332731525661, + -0.013898100281445974, + 0.05006037652492523 + ], + [ + 0.04132340848445892, + 0.9613033573284379, + -0.27237516228652886, + -0.10120265930891037 + ], + [ + 0.026127422228455544, + 0.27147512831456855, + 0.9620907458149902, + 0.04939011484384537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9987754225730896, + -0.04747592201223942, + -0.013917502142059503, + 0.050318263471126556 + ], + [ + 0.041867051273584366, + 0.9609576512698524, + -0.2735096070827969, + -0.10145397484302521 + ], + [ + 0.026359250769019127, + 0.2725919881952405, + 0.961768577382955, + 0.04948198050260544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9987874031066897, + -0.047250404896836136, + -0.013826833469252588, + 0.0504157617688179 + ], + [ + 0.04164156690239907, + 0.9606199375202016, + -0.27472767903152845, + -0.10162634402513504 + ], + [ + 0.02626332454383374, + 0.2738187649449888, + 0.9614226641098107, + 0.0493273064494133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9987874031066895, + -0.04725013363672417, + -0.013824750261501024, + 0.050545476377010345 + ], + [ + 0.04161395505070686, + 0.9603285844757911, + -0.27574868428065524, + -0.1019456759095192 + ], + [ + 0.026305465027689934, + 0.27483900583689225, + 0.961130331393798, + 0.04962354525923729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.998779356479645, + -0.04741762551582675, + -0.013831724215779922, + 0.0507088229060173 + ], + [ + 0.041742939502000816, + 0.9600070548531184, + -0.27684650335426114, + -0.10218100994825363 + ], + [ + 0.02640595473349095, + 0.27593121181665975, + 0.9608146196845258, + 0.04964306950569153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987708330154421, + -0.04761651319700193, + -0.013765747659009758, + 0.050834037363529205 + ], + [ + 0.04192255064845086, + 0.9596863935509704, + -0.2779290460847603, + -0.1023954451084137 + ], + [ + 0.026444813236594207, + 0.277010328013419, + 0.9605029732305935, + 0.04984263703227043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9987739920616152, + -0.04755055284095126, + -0.013762919568420115, + 0.05096439644694328 + ], + [ + 0.04182840138673783, + 0.9593579890530156, + -0.27907463454313425, + -0.1025618389248848 + ], + [ + 0.026473717764019973, + 0.27815681408227494, + 0.9601707641609568, + 0.05017617717385292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9987632036209106, + -0.04778371201990127, + -0.01373996692812158, + 0.05111025273799896 + ], + [ + 0.042025960981845856, + 0.9590035898385992, + -0.28026045270044986, + -0.1026800125837326 + ], + [ + 0.026568561792373657, + 0.27933638663248267, + 0.9598256657487623, + 0.050581060349941254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9987586736679077, + -0.04787605442636863, + -0.013746316620027881, + 0.051215630024671555 + ], + [ + 0.0420815609395504, + 0.9586708429850181, + -0.2813882807175094, + -0.10282745212316513 + ], + [ + 0.026649953797459602, + 0.2804605218488088, + 0.9594955317280776, + 0.050707947462797165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9987489581108093, + -0.048080098550965594, + -0.013739205169784873, + 0.05134407430887222 + ], + [ + 0.04224804416298866, + 0.9583323096947748, + -0.2825142736716138, + -0.1029762327671051 + ], + [ + 0.02675003744661808, + 0.2815803769406005, + 0.9591646764455701, + 0.05087321624159813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9987454414367676, + -0.048170789974192274, + -0.013679812682737075, + 0.05134718120098114 + ], + [ + 0.04232286661863327, + 0.9580225766608798, + -0.2835516887594501, + -0.10313480347394943 + ], + [ + 0.02676447667181492, + 0.2826169731852547, + 0.9588593526044363, + 0.05102027952671051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9987375140190125, + -0.0483512610355398, + -0.013619677874816242, + 0.05141047015786171 + ], + [ + 0.042481373995542526, + 0.9576799420916815, + -0.2846830085707951, + -0.10323622077703476 + ], + [ + 0.02680807374417782, + 0.28374503160840764, + 0.9585249813034847, + 0.05116376280784607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9987309575080872, + -0.04850177231818356, + -0.013568602351127062, + 0.051433026790618896 + ], + [ + 0.042609818279743195, + 0.9573510186900203, + -0.2857682128588736, + -0.10333326458930969 + ], + [ + 0.026850180700421333, + 0.28482739520329875, + 0.9582026774562673, + 0.05130999535322189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9987238645553589, + -0.04866172775502166, + -0.013518040419682147, + 0.0514787957072258 + ], + [ + 0.042749177664518356, + 0.9570422157480256, + -0.28677994648075367, + -0.10351944714784622 + ], + [ + 0.026892542839050293, + 0.2858360790284881, + 0.9579010894057011, + 0.05152156576514244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9987165331840515, + -0.04883082264179101, + -0.01344831691531165, + 0.05149693414568901 + ], + [ + 0.04290221258997917, + 0.9567259388957329, + -0.28781044015860485, + -0.10366237163543701 + ], + [ + 0.026920374482870102, + 0.2868640780729599, + 0.957592964357237, + 0.051449004560709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9987132549285889, + -0.04891029947695908, + -0.013400947186025247, + 0.051523901522159576 + ], + [ + 0.04296421632170677, + 0.9564260149873451, + -0.2887964414599552, + -0.10383272171020508 + ], + [ + 0.026942135766148567, + 0.28784907099058465, + 0.9572967319543778, + 0.051868487149477005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9987145066261292, + -0.04891345204141196, + -0.013298868730055155, + 0.051501642912626266 + ], + [ + 0.04296807572245598, + 0.9561180230798799, + -0.2898138699264916, + -0.1039583757519722 + ], + [ + 0.026891084387898445, + 0.2888698843531241, + 0.9569906222280941, + 0.05224953591823578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9987059831619263, + -0.04909511539606287, + -0.01326806556749676, + 0.05157089978456497 + ], + [ + 0.043127212673425674, + 0.955855498764775, + -0.2906549578563688, + -0.10421670228242874 + ], + [ + 0.026952093467116356, + 0.2897066371486718, + 0.9567359567125322, + 0.05240149796009064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9986954927444458, + -0.0493061895467239, + -0.013274540826006594, + 0.051704440265893936 + ], + [ + 0.04330439493060112, + 0.9556000512055851, + -0.2914674482761844, + -0.10447558015584946 + ], + [ + 0.027056299149990082, + 0.2905123791846866, + 0.9564886078894987, + 0.05273611471056938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9986888766288757, + -0.04944487062172501, + -0.013255468889709007, + 0.051776058971881866 + ], + [ + 0.0434190034866333, + 0.9553400531590699, + -0.2923014195652394, + -0.10471457242965698 + ], + [ + 0.027116285637021065, + 0.29134265134830517, + 0.9562343712251319, + 0.05281369015574455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.99868243932724, + -0.049605783214013, + -0.013138534380962835, + 0.05183954909443855 + ], + [ + 0.04357486590743065, + 0.9549849371131834, + -0.2934364481940526, + -0.10484771430492401 + ], + [ + 0.027103247120976448, + 0.2924773278866286, + 0.9558883188775709, + 0.054529957473278046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9986789226531982, + -0.04970997389533454, + -0.013011363855358213, + 0.05189601704478264 + ], + [ + 0.04368535801768303, + 0.9546932028752532, + -0.2943678491456863, + -0.1049569845199585 + ], + [ + 0.027054879814386368, + 0.29341058044306495, + 0.9556036385793966, + 0.05466539412736893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9986782670021057, + -0.04973550565402504, + -0.012963178770933254, + 0.05190533027052879 + ], + [ + 0.0436965636909008, + 0.9543942413955218, + -0.2953342055930898, + -0.1051085814833641 + ], + [ + 0.027060577645897865, + 0.29437740055338263, + 0.9553060513134978, + 0.054690029472112656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9986692667007446, + -0.04988989517463182, + -0.013063599799653984, + 0.05214499309659004 + ], + [ + 0.0437970906496048, + 0.9541999358766744, + -0.2959464596463701, + -0.10549937933683395 + ], + [ + 0.027230022475123405, + 0.29498048530686455, + 0.9551151694882433, + 0.05504975840449333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9986540079116821, + -0.0501985086920887, + -0.013049026508197515, + 0.05233374238014221 + ], + [ + 0.04407418146729469, + 0.9539474707199938, + -0.2967181088825816, + -0.10576625168323517 + ], + [ + 0.027342893183231354, + 0.295743603151492, + 0.9548759331750719, + 0.055320411920547485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9986473917961121, + -0.050307214389052494, + -0.01313729423486258, + 0.0525670163333416 + ], + [ + 0.044131938368082047, + 0.9537287072238104, + -0.29741210796715745, + -0.10607131570577621 + ], + [ + 0.027491390705108643, + 0.2964300454372171, + 0.9546587944637819, + 0.05551933869719505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9986510872840881, + -0.05022615210058438, + -0.013164379959926184, + 0.05277265980839729 + ], + [ + 0.04402964562177658, + 0.9535509724489387, + -0.2979965635939356, + -0.10639292746782303 + ], + [ + 0.02752012573182583, + 0.2970149634115007, + 0.9544761434004141, + 0.05567459389567375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9986395239830019, + -0.05044951166783045, + -0.013189887455432942, + 0.05300874635577202 + ], + [ + 0.04421137273311616, + 0.9532834499921904, + -0.2988243343972733, + -0.10662415623664856 + ], + [ + 0.027649242430925376, + 0.2978346415969045, + 0.9542169532660076, + 0.05595257878303528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9986354112625122, + -0.05050011708397287, + -0.013306137054217496, + 0.05335184559226036 + ], + [ + 0.04419765621423721, + 0.9529889235730871, + -0.29976445341263974, + -0.1067948192358017 + ], + [ + 0.027818739414215088, + 0.2987672926258164, + 0.9539204298096897, + 0.05645280331373215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9986248612403872, + -0.05070209862659679, + -0.013331287665919843, + 0.053807035088539124 + ], + [ + 0.044357646256685264, + 0.9527098141063565, + -0.30062665204209815, + -0.1070273146033287 + ], + [ + 0.027943249791860587, + 0.29962190948422, + 0.95364873769525, + 0.05703022703528404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9986186027526858, + -0.05078437117331863, + -0.013482797925384774, + 0.054254572838544846 + ], + [ + 0.04436425119638444, + 0.9524258997715473, + -0.3015239348174445, + -0.10720130801200867 + ], + [ + 0.028154071420431144, + 0.3005092628874415, + 0.9533632533341739, + 0.05722043663263321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.998611330986023, + -0.05093218131015563, + -0.01346500938873079, + 0.05453921854496002 + ], + [ + 0.04448183625936508, + 0.9521124597391843, + -0.30249494240928426, + -0.10734619200229645 + ], + [ + 0.028226930648088455, + 0.30147593191881233, + 0.9530558640352667, + 0.057724013924598694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9986125230789185, + -0.05083027771443005, + -0.013761204582706438, + 0.05482786148786545 + ], + [ + 0.04427405074238777, + 0.9518956178459277, + -0.3032071637434896, + -0.10766778141260147 + ], + [ + 0.028511332347989082, + 0.3021771889726437, + 0.9528252845886004, + 0.057528991252183914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986092448234558, + -0.05094784101539651, + -0.01356258081992777, + 0.054863233119249344 + ], + [ + 0.044416751712560654, + 0.9515739110155075, + -0.304194414765727, + -0.10781503468751907 + ], + [ + 0.02840384840965271, + 0.30316893732340544, + 0.9525133919010802, + 0.058169327676296234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985964894294741, + -0.051210112475857474, + -0.013513309353835322, + 0.054893914610147476 + ], + [ + 0.044656451791524894, + 0.9512931634207666, + -0.3050363509663516, + -0.10812638700008392 + ], + [ + 0.0284760631620884, + 0.3040047628308883, + 0.9522448356040553, + 0.05842777341604233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9985879659652712, + -0.05134225610673418, + -0.013639115543757399, + 0.05501633509993553 + ], + [ + 0.044720415025949485, + 0.9510376845243536, + -0.3058225989430758, + -0.1084885448217392 + ], + [ + 0.028672935441136367, + 0.3047808078706632, + 0.9519908024399668, + 0.05894993245601654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9985603094100952, + -0.051884523826696116, + -0.013612683258086327, + 0.05512290447950363 + ], + [ + 0.0452195480465889, + 0.9507442325299387, + -0.3066603383544038, + -0.1088278740644455 + ], + [ + 0.02885310724377632, + 0.3056032853406442, + 0.9517216773429144, + 0.05918983370065689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9985609650611877, + -0.05186509263880922, + -0.013636542995515913, + 0.05534187704324722 + ], + [ + 0.04516682028770447, + 0.9504602289241056, + -0.3075473469906496, + -0.10902705043554306 + ], + [ + 0.028911961242556572, + 0.30648887078333786, + 0.9514350831464401, + 0.059550940990448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9985492825508118, + -0.05208563314735893, + -0.013653329086605458, + 0.05570826306939125 + ], + [ + 0.04534154385328293, + 0.9501325612529641, + -0.3085323838406557, + -0.10920276492834091 + ], + [ + 0.029042577371001244, + 0.30746573231362384, + 0.951115875283244, + 0.06005007401108742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9985119700431824, + -0.05273068028403045, + -0.013906003145754207, + 0.05668938159942627 + ], + [ + 0.04584040120244026, + 0.9497185356454937, + -0.3097310359395042, + -0.10922903567552567 + ], + [ + 0.029539119452238083, + 0.30863268494589347, + 0.9507225001727596, + 0.06055305525660515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9984845519065857, + -0.05316491343084091, + -0.014217014405725691, + 0.05770459026098251 + ], + [ + 0.04612278565764427, + 0.9493465581577387, + -0.31082753915485545, + -0.1093515008687973 + ], + [ + 0.030021993443369865, + 0.30970076003398744, + 0.9503599773899831, + 0.0609867088496685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9984577894210818, + -0.05354858996442094, + -0.014648024823570704, + 0.05870739370584488 + ], + [ + 0.04632163420319558, + 0.9490065418539472, + -0.3118346948247404, + -0.10958438366651535 + ], + [ + 0.030599379912018783, + 0.31067526046851646, + 0.9500234617713209, + 0.06117666885256767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9984436631202698, + -0.05373838162312685, + -0.014914201221838792, + 0.059478290379047394 + ], + [ + 0.046389054507017136, + 0.9486976088382765, + -0.31276340398600744, + -0.10985783487558365 + ], + [ + 0.030956465750932693, + 0.31158477683023145, + 0.9497139505200463, + 0.06126369908452034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9984411597251892, + -0.05383167824793553, + -0.014742844649396628, + 0.05927150696516037 + ], + [ + 0.04650226980447769, + 0.9483988100316173, + -0.31365154714979754, + -0.11022798717021942 + ], + [ + 0.030866483226418495, + 0.3124770401747352, + 0.9494236952011025, + 0.06126583367586136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9984462857246399, + -0.05378997816676478, + -0.014549224923911197, + 0.05894240364432335 + ], + [ + 0.046494368463754654, + 0.9481038960619426, + -0.3145430482373862, + -0.11062394827604294 + ], + [ + 0.030713440850377083, + 0.3133778743297257, + 0.949131688786871, + 0.06122678518295288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9984588027000427, + -0.053691815359585185, + -0.014043637247762622, + 0.0579218752682209 + ], + [ + 0.04653261974453926, + 0.9478197466407918, + -0.315392564269345, + -0.11102058738470078 + ], + [ + 0.03024483658373356, + 0.3142529972660696, + 0.9488573826312112, + 0.060740113258361816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9984645247459414, + -0.053701224373299904, + -0.0135939738556156, + 0.05722348764538765 + ], + [ + 0.04665325582027436, + 0.9474994198020423, + -0.3163357890678842, + -0.11133307218551636 + ], + [ + 0.029867900535464294, + 0.3152158563187636, + 0.9485498547580268, + 0.06073634698987007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9984716773033142, + -0.05373146310242387, + -0.012931353444048267, + 0.055982112884521484 + ], + [ + 0.04686414822936058, + 0.9471990845386933, + -0.317202925639163, + -0.11183065176010132 + ], + [ + 0.029292341321706772, + 0.31611212185223864, + 0.9482695285199673, + 0.060637034475803375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9984613060951233, + -0.0539914969700612, + -0.012647694286066663, + 0.05566132813692093 + ], + [ + 0.047165077179670334, + 0.946796958778906, + -0.3183567007299401, + -0.1120755672454834 + ], + [ + 0.029163353145122528, + 0.3172703156718511, + 0.9478866095463652, + 0.06108618527650833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9984527826309206, + -0.05420870823562299, + -0.012385910947839461, + 0.055267177522182465 + ], + [ + 0.04742025956511499, + 0.9464113622298261, + -0.3194633065502139, + -0.11235735565423965 + ], + [ + 0.029039861634373672, + 0.3183817026754864, + 0.9475176903260397, + 0.06129692494869232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9984652996063232, + -0.0539993300437275, + -0.012292824879588514, + 0.05501314997673035 + ], + [ + 0.0472165122628212, + 0.9460344364106552, + -0.32060800444186055, + -0.11264599114656448 + ], + [ + 0.02894205041229725, + 0.3195355371086167, + 0.9471322002640039, + 0.061395663768053055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9984505772590637, + -0.0543016900688805, + -0.012156326123064658, + 0.05482335388660431 + ], + [ + 0.047502852976322174, + 0.9455336051824815, + -0.32203993498827316, + -0.11282311379909515 + ], + [ + 0.02898152731359005, + 0.3209635018596681, + 0.9466480526577126, + 0.06096481531858444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9984495639801028, + -0.05439051061169737, + -0.011838756760488043, + 0.054312001913785934 + ], + [ + 0.047652054578065886, + 0.9451116394762545, + -0.32325423688142846, + -0.11325768381357193 + ], + [ + 0.028770910575985915, + 0.3221889073520178, + 0.9462380946108592, + 0.060495372861623764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9984416365623476, + -0.05457240976798505, + -0.011669905739627695, + 0.05416470021009445 + ], + [ + 0.047827292233705535, + 0.9445222670125243, + -0.3249465295221227, + -0.11329174041748047 + ], + [ + 0.028755601495504386, + 0.323881996518612, + 0.9456603844088031, + 0.06037679314613342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9984403252601624, + -0.05468261352864139, + -0.01125830122493436, + 0.05337878689169884 + ], + [ + 0.048017434775829315, + 0.9439683028860505, + -0.32652437730072326, + -0.1136997640132904 + ], + [ + 0.02848268486559391, + 0.3254745137219558, + 0.9451217253086991, + 0.05984185263514519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9984427094459534, + -0.05475140824974761, + -0.010699970254685467, + 0.05248097702860832 + ], + [ + 0.04822004586458206, + 0.9434407336168203, + -0.3280158208741151, + -0.1140555813908577 + ], + [ + 0.028054116293787956, + 0.3269890347557743, + 0.9446116030079161, + 0.058878593146800995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9984651207923891, + -0.05440101237420722, + -0.010389260997530509, + 0.05194922909140587 + ], + [ + 0.047941517084836974, + 0.9428714657982077, + -0.3296892482578968, + -0.11414247006177902 + ], + [ + 0.027731167152524, + 0.32868513606567945, + 0.9440323201126206, + 0.057942744344472885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9984723925590515, + -0.05435269225219334, + -0.009935054492254732, + 0.0513199046254158 + ], + [ + 0.04800430312752724, + 0.9423728254641358, + -0.33110286026303765, + -0.11456861346960068 + ], + [ + 0.027358856052160263, + 0.3301201280161377, + 0.9435423720433137, + 0.05723872780799866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9984675049781799, + -0.0544820114539907, + -0.00971348108615019, + 0.05109729617834091 + ], + [ + 0.048154428601264954, + 0.9418148274726732, + -0.3326649489493917, + -0.11488513648509979 + ], + [ + 0.027272555977106094, + 0.33168739283960635, + 0.9429950364927404, + 0.05710497498512268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9984382987022402, + -0.05504670975691346, + -0.009531784491268673, + 0.050865836441516876 + ], + [ + 0.04869792982935907, + 0.9411828597098819, + -0.3343700146129006, + -0.11523377895355225 + ], + [ + 0.027377123013138778, + 0.33338365632623834, + 0.9423936795905601, + 0.05656619742512703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9984645247459412, + -0.05460399708287645, + -0.009328211034407343, + 0.05064032971858978 + ], + [ + 0.048300985246896744, + 0.9406144707553522, + -0.3360228959957449, + -0.11537125706672668 + ], + [ + 0.027122441679239273, + 0.3350563724849365, + 0.9418076036011774, + 0.05677204206585884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9984509944915774, + -0.05488901562174516, + -0.009098723923169724, + 0.05056905373930931 + ], + [ + 0.048605851829051985, + 0.9400931831130203, + -0.33743485858133165, + -0.1158209890127182 + ], + [ + 0.02707511372864247, + 0.33646991929673886, + 0.9413048992130086, + 0.056870561093091965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9984526038169861, + -0.05489943497234848, + -0.008860453765303523, + 0.050368912518024445 + ], + [ + 0.04864751547574997, + 0.9394822761258532, + -0.3391261009746727, + -0.11601279675960541 + ], + [ + 0.026942070573568344, + 0.3381702783732979, + 0.940699187690178, + 0.057162728160619736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9984487295150759, + -0.055016786951022766, + -0.00855766149489167, + 0.05007053166627884 + ], + [ + 0.048820659518241896, + 0.9389680167419403, + -0.340522479412662, + -0.11639878153800964 + ], + [ + 0.026769824326038368, + 0.3395764605785484, + 0.9401974284426518, + 0.05656357854604721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9984191060066223, + -0.05560936815548017, + -0.008178785745105034, + 0.04982779175043106 + ], + [ + 0.049457699060440063, + 0.9383073677499171, + -0.3422472446835504, + -0.11686290055513382 + ], + [ + 0.02670636773109436, + 0.3413016869270271, + 0.9395743145862671, + 0.056376926600933075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9984009861946108, + -0.055949535281717935, + -0.008072550159973312, + 0.05005349963903427 + ], + [ + 0.04975279420614244, + 0.9375105098123089, + -0.344381573951972, + -0.11709506064653397 + ], + [ + 0.026836089789867408, + 0.3434292624873546, + 0.9387950671630854, + 0.05733930692076683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9983974695205688, + -0.05598233555422106, + -0.008273305426650219, + 0.050513312220573425 + ], + [ + 0.04965895414352417, + 0.9368045710900583, + -0.346310809909667, + -0.11740350723266602 + ], + [ + 0.0271377582103014, + 0.34534499380276934, + 0.9380833255248467, + 0.05745039880275726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9983941912651062, + -0.055954095739731674, + -0.008844467384015817, + 0.05097316950559616 + ], + [ + 0.04938141629099846, + 0.9361448552315689, + -0.348129648955573, + -0.11821271479129791 + ], + [ + 0.02775898389518261, + 0.34713386321866296, + 0.9374046539867451, + 0.05548568069934845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9984303116798401, + -0.05528019231535079, + -0.009001363149191933, + 0.05136281996965408 + ], + [ + 0.04862872511148453, + 0.9353478684035673, + -0.35037074959684145, + -0.11853134632110596 + ], + [ + 0.027787968516349792, + 0.3493830317475497, + 0.9365678134769981, + 0.05651983246207237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9983713626861572, + -0.05641753551858462, + -0.008463646874038975, + 0.05146963149309158 + ], + [ + 0.04981407895684242, + 0.9344221706495148, + -0.3526667060369502, + -0.118987537920475 + ], + [ + 0.027805205434560776, + 0.35167074601365794, + 0.9357107543624598, + 0.056052833795547485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9983360767364502, + -0.0570793629107843, + -0.00818642456860141, + 0.05161983519792557 + ], + [ + 0.05047106742858887, + 0.9336240143650778, + -0.3546814278505345, + -0.11967439949512482 + ], + [ + 0.02788802981376648, + 0.35367808119055816, + 0.9349513605323297, + 0.05674539878964424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9983943104743958, + -0.056062972931985845, + -0.008105202776604125, + 0.051748618483543396 + ], + [ + 0.04948657378554344, + 0.9328644008433048, + -0.35681237603883137, + -0.12000057101249695 + ], + [ + 0.027565017342567444, + 0.35583835742110603, + 0.9341409203141892, + 0.05766363441944122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9983677864074707, + -0.056507854964653416, + -0.008286082099614681, + 0.05224485322833061 + ], + [ + 0.04977482557296753, + 0.9320405821395283, + -0.35891897771685366, + -0.12039557844400406 + ], + [ + 0.028004705905914307, + 0.3579206874878009, + 0.9333319209300026, + 0.057260241359472275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9983372092247009, + -0.0570836392488901, + -0.00801423874172276, + 0.052082546055316925 + ], + [ + 0.05036128684878349, + 0.9313865127425031, + -0.36053141889997575, + -0.1208747923374176 + ], + [ + 0.028044799342751503, + 0.35952832330032247, + 0.9327126235393471, + 0.05621351674199104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9983602166175842, + -0.05672349680852522, + -0.007705797678256581, + 0.05166082829236984 + ], + [ + 0.050088636577129364, + 0.9307789639595154, + -0.36213479559584627, + -0.12099696695804596 + ], + [ + 0.027713946998119354, + 0.3611549898987166, + 0.9320938718751857, + 0.05667315050959587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9983695745468142, + -0.056605769587585376, + -0.007344620825392577, + 0.05089106410741806 + ], + [ + 0.0500607378780842, + 0.9301350714581286, + -0.3637893381998638, + -0.1209985613822937 + ], + [ + 0.027424063533544547, + 0.3628285379874409, + 0.9314522870561341, + 0.05664011463522911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9983811378479004, + -0.056439119246388406, + -0.007048113105745939, + 0.050123803317546844 + ], + [ + 0.04997536540031433, + 0.9296321725501611, + -0.3650842691740776, + -0.12107861787080765 + ], + [ + 0.027157185599207878, + 0.36414101396666737, + 0.9309477872221054, + 0.05597877874970436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9984092712402344, + -0.05600026009815472, + -0.00655275229206746, + 0.049078602343797684 + ], + [ + 0.04970191791653633, + 0.9290231945464694, + -0.366668315753035, + -0.12094037234783173 + ], + [ + 0.026621177792549133, + 0.36575935847237717, + 0.9303286718795035, + 0.0558503195643425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9984164834022522, + -0.05591321605073767, + -0.0061865926118005185, + 0.04833192378282547 + ], + [ + 0.04971984773874283, + 0.9285319385255347, + -0.3679080292359242, + -0.1210949495434761 + ], + [ + 0.026315370574593544, + 0.3670178545214382, + 0.9298416151299125, + 0.05542629957199097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9984073638916016, + -0.05611913162175287, + -0.0057813782052508885, + 0.0478665791451931 + ], + [ + 0.05002088472247124, + 0.9279602342886465, + -0.3693071211336782, + -0.12119042128324509 + ], + [ + 0.02609008364379406, + 0.36842974683857194, + 0.9292894238944751, + 0.055236928164958954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9984207153320312, + -0.05594086730777026, + -0.005164040856753212, + 0.04683500528335571 + ], + [ + 0.05003242567181587, + 0.9272288509498817, + -0.37113804097304853, + -0.12129901349544525 + ], + [ + 0.025550030171871185, + 0.3702935417816111, + 0.9285633346698079, + 0.054554302245378494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 995.4956868489583, + "fy": 995.7377115885416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/move_left/transforms.json b/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ba10a98ea9d9ae92251be54da93d0c467c514658 --- /dev/null +++ b/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/move_left/transforms.json @@ -0,0 +1,6943 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 198, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 4.7903893573675305e-05, + -1.3397059774433728e-05, + 3.661001755972393e-05 + ], + [ + -4.790362436324358e-05, + 1.0, + 2.0111605408601463e-05, + 8.499329851474613e-05 + ], + [ + 1.3398023838817608e-05, + -2.0110965124331415e-05, + 1.0, + -0.0001617062953300774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999976754188538, + -0.0014958454994484782, + 0.0015412326902151108, + 0.0003300993408426302 + ], + [ + 0.0014770877314731479, + 0.9999256730079651, + 0.01210075058043003, + 0.0061166355557158245 + ], + [ + -0.0015592190902680159, + -0.012098446488380432, + 0.9999256134033203, + -0.00166431223314142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999935030937195, + -0.0009253053576685488, + 0.003490034257993102, + -0.0002463517734795091 + ], + [ + 0.0008287735399790108, + 0.9996197819709778, + 0.027560032904148102, + 0.014381607584265264 + ], + [ + -0.003514208598062396, + -0.02755695953965187, + 0.9996140599250793, + -0.0030334039451790796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999987006187439, + -0.0015105502679944038, + 0.004870587028563023, + 0.0011888676445912286 + ], + [ + 0.0012914394028484821, + 0.9990004897117615, + 0.04468000307679176, + 0.025036599781354748 + ], + [ + -0.004933210089802742, + -0.0446731336414814, + 0.998989462852478, + -0.0012677703161492263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999732971191406, + -0.003278229618445039, + 0.006532347295433283, + 0.0020471478557110134 + ], + [ + 0.0028644937556236982, + 0.9980490207672119, + 0.06236913055181503, + 0.03229669376233886 + ], + [ + -0.006724062841385603, + -0.062348753213882446, + 0.9980317950248718, + 0.00150208357783025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999446868896484, + -0.006441405508667231, + 0.008317702449858189, + 0.005577033092527825 + ], + [ + 0.005771225783973932, + 0.9969190359115601, + 0.07822508364915848, + 0.03953950485654251 + ], + [ + -0.00879595521837473, + -0.07817275077104568, + 0.9969010353088379, + 0.006584021288825927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999872088432312, + -0.010875514708459377, + 0.011727968230843544, + 0.00894217438958018 + ], + [ + 0.009779359214007854, + 0.9959133863449097, + 0.08978220820426941, + 0.04338979605623157 + ], + [ + -0.012656468898057938, + -0.08965602517127991, + 0.995892345905304, + 0.009882999763724767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997576475143433, + -0.015987655147910118, + 0.015135095454752445, + 0.009896679199891647 + ], + [ + 0.014428673312067986, + 0.9950782060623169, + 0.0980364978313446, + 0.04482286600726964 + ], + [ + -0.016627976670861244, + -0.09779435396194458, + 0.9950677156448364, + 0.01006413731383642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99969482421875, + -0.017595399171113968, + 0.01733947917819023, + 0.010530940062238783 + ], + [ + 0.015690326690673828, + 0.9944045543670654, + 0.10446719825267792, + 0.04671763286448372 + ], + [ + -0.019080597907304764, + -0.104163259267807, + 0.9943771362304688, + 0.01369262535295208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996494650840759, + -0.017702477052807808, + 0.019687917083501816, + 0.013189507667258911 + ], + [ + 0.015471047721803188, + 0.9940059185028076, + 0.10822593420743942, + 0.04854724185616913 + ], + [ + -0.021485771983861923, + -0.10788340121507645, + 0.9939313530921936, + 0.014986283820935614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995905160903931, + -0.017995506525039673, + 0.0222475528717041, + 0.01532966994354265 + ], + [ + 0.015425067394971848, + 0.9937286376953125, + 0.11074930429458618, + 0.049362557188508474 + ], + [ + -0.02410101890563965, + -0.11036078631877899, + 0.9935993552207947, + 0.01770687828473936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995266795158386, + -0.019130190834403038, + 0.02409176714718342, + 0.015710902471227695 + ], + [ + 0.016342664137482643, + 0.9936848282814026, + 0.11101099103689194, + 0.0482333985615881 + ], + [ + -0.026063283905386925, + -0.11056473106145859, + 0.9935271143913269, + 0.020522958366436705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994650483131409, + -0.020181065425276756, + 0.02573547326028347, + 0.015825099823287295 + ], + [ + 0.01727028377354145, + 0.9939246773719788, + 0.10869880765676498, + 0.045859022703267596 + ], + [ + -0.027772778645157814, + -0.1081962063908577, + 0.9937415719032288, + 0.020903441595471448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9994669556617737, + -0.01977858506143093, + 0.025973645970225334, + 0.019035884176338384 + ], + [ + 0.01698857732117176, + 0.9944780468940735, + 0.1035606786608696, + 0.044446957889509385 + ], + [ + -0.027878502383828163, + -0.10306421667337418, + 0.99428391456604, + 0.023726068513685375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994221329689026, + -0.018905019387602806, + 0.028248894959688187, + 0.02149538038875246 + ], + [ + 0.016012543812394142, + 0.9949262142181396, + 0.09932459145784378, + 0.04546168618055467 + ], + [ + -0.02998330071568489, + -0.09881485253572464, + 0.9946539998054504, + 0.024150181701643212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993457794189453, + -0.016213949769735336, + 0.032328370958566666, + 0.02255273940334768 + ], + [ + 0.013013441115617752, + 0.995212733745575, + 0.0968623161315918, + 0.04455906340880745 + ], + [ + -0.033744122833013535, + -0.09637823700904846, + 0.9947726130485535, + 0.025645596717441748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992285966873169, + -0.014947544783353806, + 0.03631499037146568, + 0.022857577943711113 + ], + [ + 0.011521954089403152, + 0.9956207275390625, + 0.09277211129665375, + 0.040015686273120986 + ], + [ + -0.037542674690485, + -0.09228213131427765, + 0.9950249195098877, + 0.029040949532601435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9990981817245483, + -0.014726602472364902, + 0.03982466831803322, + 0.019295720077181226 + ], + [ + 0.011265759356319904, + 0.9962511658668518, + 0.0857708528637886, + 0.03577099909325163 + ], + [ + -0.04093848541378975, + -0.08524484187364578, + 0.9955186247825623, + 0.027425618382728646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9990569353103638, + -0.01355813629925251, + 0.04124806448817253, + 0.021234437129294813 + ], + [ + 0.010311048477888107, + 0.9969047904014587, + 0.07793933153152466, + 0.03362753611379468 + ], + [ + -0.04217710718512535, + -0.07744051516056061, + 0.9961044192314148, + 0.02747803070407531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989655017852783, + -0.010706854984164238, + 0.04419637843966484, + 0.020931221109810213 + ], + [ + 0.00754271075129509, + 0.9974372386932373, + 0.07114855200052261, + 0.029970275750620112 + ], + [ + -0.044844891875982285, + -0.07074158638715744, + 0.9964861273765564, + 0.029596044282017626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9988844990730286, + -0.007146202493458986, + 0.046676620841026306, + 0.017702590466150775 + ], + [ + 0.004022540058940649, + 0.9977666139602661, + 0.06667554378509521, + 0.029040184396739843 + ], + [ + -0.04704885184764862, + -0.06641340255737305, + 0.996682345867157, + 0.02759682978054291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987969398498535, + -0.0033787996508181095, + 0.04892108589410782, + 0.014491676694245509 + ], + [ + 0.00024366483557969332, + 0.9979530572891235, + 0.06395018100738525, + 0.02702625376866128 + ], + [ + -0.04903702437877655, + -0.06386132538318634, + 0.9967532753944397, + 0.029956600389580437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987545609474182, + -0.0012265584664419293, + 0.04987794905900955, + 0.010519635533620864 + ], + [ + -0.0018405677983537316, + 0.9981115460395813, + 0.06140023469924927, + 0.025501130423792238 + ], + [ + -0.04985906928777695, + -0.06141556799411774, + 0.9968661665916443, + 0.027536253788068815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987435936927795, + 0.00047380232717841864, + 0.05010953173041344, + 0.005921814910273262 + ], + [ + -0.0035050222650170326, + 0.9981667995452881, + 0.06042134016752243, + 0.026278528582002154 + ], + [ + -0.049989040940999985, + -0.060521066188812256, + 0.9969143867492676, + 0.02794706096806502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987945556640625, + 0.001814193674363196, + 0.04905247688293457, + 0.00377786708286571 + ], + [ + -0.0048292758874595165, + 0.9981004595756531, + 0.06141803786158562, + 0.025920696864802827 + ], + [ + -0.048847876489162445, + -0.06158089265227318, + 0.996906042098999, + 0.028353852097909464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9988046884536743, + 0.0032535437494516373, + 0.04877057671546936, + -0.0005869332388951081 + ], + [ + -0.006276278756558895, + 0.9980592727661133, + 0.061954315751791, + 0.027426810573483937 + ], + [ + -0.04847435653209686, + -0.062186356633901596, + 0.9968867301940918, + 0.02759387678830757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988561272621155, + 0.004107040353119373, + 0.04764018580317497, + -0.002362846236127583 + ], + [ + -0.0071962205693125725, + 0.9978687763214111, + 0.0648549497127533, + 0.029991821540982892 + ], + [ + -0.04727229103446007, + -0.06512358784675598, + 0.9967568516731262, + 0.030017455716423575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9988937377929688, + 0.005255955271422863, + 0.0467301681637764, + -0.004946568478749792 + ], + [ + -0.008446416817605495, + 0.9976262450218201, + 0.06834115833044052, + 0.0323924530793908 + ], + [ + -0.0462600439786911, + -0.06866025179624557, + 0.9965670108795166, + 0.03276222084228157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989221096038818, + 0.005936690606176853, + 0.04603713005781174, + -0.008924962113124463 + ], + [ + -0.00924789346754551, + 0.9973582625389099, + 0.07204875349998474, + 0.03446778182299609 + ], + [ + -0.04548777639865875, + -0.07239684462547302, + 0.9963380694389343, + 0.03446986045177818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989140033721924, + 0.007462691981345415, + 0.045990101993083954, + -0.011425670775759796 + ], + [ + -0.010953927412629128, + 0.9970373511314392, + 0.0761348307132721, + 0.035726075646878803 + ], + [ + -0.045285679399967194, + -0.07655592262744904, + 0.9960363507270813, + 0.0352715043133588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9988612532615662, + 0.00990203209221363, + 0.046670664101839066, + -0.013407146659216412 + ], + [ + -0.013567062094807625, + 0.9967918395996094, + 0.07887927442789078, + 0.034831192750994326 + ], + [ + -0.04573987051844597, + -0.07942263036966324, + 0.9957910776138306, + 0.038652310932650785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99880450963974, + 0.011700073257088661, + 0.047462623566389084, + -0.0171897050776864 + ], + [ + -0.015462882816791534, + 0.9966986775398254, + 0.07970375567674637, + 0.03677482507026135 + ], + [ + -0.0463733933866024, + -0.0803423747420311, + 0.9956880211830139, + 0.0386254466030047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9987748265266418, + 0.012463359162211418, + 0.04789106175303459, + -0.018383914795302346 + ], + [ + -0.016387490555644035, + 0.9964612722396851, + 0.08244039863348007, + 0.038561379796054764 + ], + [ + -0.04669410362839699, + -0.08312421292066574, + 0.995444655418396, + 0.04033720382881649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987128973007202, + 0.013348923064768314, + 0.04893220216035843, + -0.018937888924684846 + ], + [ + -0.017491793259978294, + 0.9962068796157837, + 0.08524017781019211, + 0.04005772695607189 + ], + [ + -0.04760873317718506, + -0.08598638325929642, + 0.9951581358909607, + 0.04338855323982118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9986624121665955, + 0.013736934401094913, + 0.04984647035598755, + -0.022565557302311443 + ], + [ + -0.01804281771183014, + 0.9960459470748901, + 0.0869884341955185, + 0.04046837799818383 + ], + [ + -0.048454418778419495, + -0.0877714455127716, + 0.9949615001678467, + 0.044755072490818004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986154437065125, + 0.014458203688263893, + 0.05057767406105995, + -0.023114443496626037 + ], + [ + -0.018862614408135414, + 0.9959666728973389, + 0.08771874755620956, + 0.04054411793326212 + ], + [ + -0.04910542443394661, + -0.08855132013559341, + 0.9948604702949524, + 0.044712578953447074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9984866976737976, + 0.016280818730592728, + 0.0525280199944973, + -0.02405260547163523 + ], + [ + -0.020899560302495956, + 0.9958467483520508, + 0.08861427009105682, + 0.0404337238917496 + ], + [ + -0.050867144018411636, + -0.08957798779010773, + 0.9946799874305725, + 0.04569810137228312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9983574151992798, + 0.016797784715890884, + 0.05477486923336983, + -0.026232720872264373 + ], + [ + -0.02165716141462326, + 0.9957634210586548, + 0.08936525881290436, + 0.04076231458238539 + ], + [ + -0.053041670471429825, + -0.09040473401546478, + 0.9944916367530823, + 0.0487815484045272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9983072876930237, + 0.017202328890562057, + 0.05555754899978638, + -0.02802588059968755 + ], + [ + -0.02207798883318901, + 0.995842695236206, + 0.08837330341339111, + 0.03902059630845404 + ], + [ + -0.0538063570857048, + -0.08945031464099884, + 0.994536817073822, + 0.05095901429501887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9982689619064331, + 0.01807335577905178, + 0.05596812814474106, + -0.029158382186770134 + ], + [ + -0.0228529404848814, + 0.9960354566574097, + 0.08597174286842346, + 0.040316556387481654 + ], + [ + -0.0541924387216568, + -0.08710195124149323, + 0.9947242736816406, + 0.05116001032103742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981667399406433, + 0.019459951668977737, + 0.05731002986431122, + -0.03042202718499197 + ], + [ + -0.024370979517698288, + 0.995972752571106, + 0.0862802043557167, + 0.04135869889695027 + ], + [ + -0.05540022253990173, + -0.08751872926950455, + 0.9946211576461792, + 0.05206606177811695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9980052709579468, + 0.021589621901512146, + 0.05932440981268883, + -0.0317506389928802 + ], + [ + -0.02675546333193779, + 0.9957865476608276, + 0.08771157264709473, + 0.041807843334405556 + ], + [ + -0.05718078836798668, + -0.08912386000156403, + 0.994377851486206, + 0.055122217155879526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9979471564292908, + 0.021743293851614, + 0.06023907661437988, + -0.0348530924514995 + ], + [ + -0.027015775442123413, + 0.9957414865493774, + 0.08814241737127304, + 0.0418244302159336 + ], + [ + -0.05806604027748108, + -0.08958887308835983, + 0.9942847490310669, + 0.055582062654235036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9980100393295288, + 0.02041045017540455, + 0.05966081842780113, + -0.035794681462880014 + ], + [ + -0.025670664384961128, + 0.9957207441329956, + 0.08877638727426529, + 0.04303895260306633 + ], + [ + -0.05759355053305626, + -0.0901312604546547, + 0.994263231754303, + 0.0576193111858846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980134963989258, + 0.01971515640616417, + 0.05983641371130943, + -0.03579944415103058 + ], + [ + -0.025060653686523438, + 0.9956316351890564, + 0.08994253724813461, + 0.043078234300093 + ], + [ + -0.05780179426074028, + -0.09126340597867966, + 0.9941478371620178, + 0.057859481844653934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9978712201118469, + 0.019655371084809303, + 0.06218316778540611, + -0.03588946043575173 + ], + [ + -0.025267483666539192, + 0.995549201965332, + 0.09079315513372421, + 0.04182735275061149 + ], + [ + -0.06012183055281639, + -0.0921710804104805, + 0.993926465511322, + 0.058584900572896004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9976305961608887, + 0.021257629618048668, + 0.06543126702308655, + -0.038309363722044805 + ], + [ + -0.02711663208901882, + 0.9955724477767944, + 0.09000087529420853, + 0.0402818583954258 + ], + [ + -0.06322836875915527, + -0.09156190603971481, + 0.9937900304794312, + 0.05610859279856464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9974362850189209, + 0.021378599107265472, + 0.06829202175140381, + -0.03957294444482641 + ], + [ + -0.027377285063266754, + 0.9957311749458313, + 0.08814734220504761, + 0.03906197578925167 + ], + [ + -0.06611602008342743, + -0.08979101479053497, + 0.9937636852264404, + 0.0534209820408809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9972904920578003, + 0.020573873072862625, + 0.07062876224517822, + -0.041087620468989845 + ], + [ + -0.026673641055822372, + 0.9958914518356323, + 0.08653732389211655, + 0.03869994182877129 + ], + [ + -0.06855817139148712, + -0.08818677812814713, + 0.9937418699264526, + 0.05167282293668858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971303343772888, + 0.020956799387931824, + 0.07274581491947174, + -0.042525165688794886 + ], + [ + -0.027173124253749847, + 0.9959638118743896, + 0.08554351329803467, + 0.035797596299254955 + ], + [ + -0.07065948843955994, + -0.08727476000785828, + 0.993675172328949, + 0.04859741686034929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9968905448913574, + 0.023815175518393517, + 0.0751139223575592, + -0.04161085063582144 + ], + [ + -0.029987169429659843, + 0.9961694478988647, + 0.08214157074689865, + 0.03602795326505518 + ], + [ + -0.07286997139453888, + -0.08413860946893692, + 0.9937860369682312, + 0.05080023458993374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967538714408875, + 0.025153659284114838, + 0.07647872716188431, + -0.042639862103056786 + ], + [ + -0.03122136741876602, + 0.9963691234588623, + 0.07920750975608826, + 0.03394906607073576 + ], + [ + -0.07420868426561356, + -0.08133816719055176, + 0.993920087814331, + 0.050097199888701364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9966123104095459, + 0.0265057235956192, + 0.07785500586032867, + -0.04420374747989746 + ], + [ + -0.03244857117533684, + 0.9965730309486389, + 0.07608702778816223, + 0.032535030651213555 + ], + [ + -0.0755714625120163, + -0.07835555076599121, + 0.9940569996833801, + 0.049218001231778094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9964890480041504, + 0.028057759627699852, + 0.07888159900903702, + -0.043328648312064594 + ], + [ + -0.03379174321889877, + 0.9968087077140808, + 0.07232209295034409, + 0.031968567503360926 + ], + [ + -0.07660066336393356, + -0.07473372668027878, + 0.9942570924758911, + 0.049439988466840105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9962804913520813, + 0.02970007061958313, + 0.08088938146829605, + -0.04483602428950634 + ], + [ + -0.03532283008098602, + 0.9969916939735413, + 0.06899203360080719, + 0.02934856321379013 + ], + [ + -0.07859697192907333, + -0.07159265875816345, + 0.9943324327468872, + 0.047341893159495996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9961999654769897, + 0.02947203256189823, + 0.08195782452821732, + -0.04462340459000641 + ], + [ + -0.03492790088057518, + 0.9972112774848938, + 0.0659526064991951, + 0.026908177296219745 + ], + [ + -0.07978550344705582, + -0.06856460124254227, + 0.9944511651992798, + 0.04889737349476306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9961673021316528, + 0.0289619117975235, + 0.08253411948680878, + -0.04461411226748815 + ], + [ + -0.034084856510162354, + 0.9975339770317078, + 0.06135318800806999, + 0.02561011052676264 + ], + [ + -0.08055368065834045, + -0.06393120437860489, + 0.9946978688240051, + 0.04721031021043129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960740208625793, + 0.02928817830979824, + 0.08353908360004425, + -0.04490375133600029 + ], + [ + -0.0341862328350544, + 0.99774169921875, + 0.0578170120716095, + 0.02382766841934417 + ], + [ + -0.08165706694126129, + -0.060445912182331085, + 0.9948258399963379, + 0.04578563732468537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9959733486175537, + 0.028648825362324715, + 0.08494894206523895, + -0.04453020366996073 + ], + [ + -0.03342486545443535, + 0.9979077577590942, + 0.05534372478723526, + 0.021075779906838073 + ], + [ + -0.08318567276000977, + -0.057960279285907745, + 0.9948471188545227, + 0.045486565683093776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9958370327949524, + 0.028994139283895493, + 0.08641733974218369, + -0.04543515983968973 + ], + [ + -0.033536579459905624, + 0.9981054067611694, + 0.05158412456512451, + 0.020334551986401456 + ], + [ + -0.0847579762339592, + -0.0542675256729126, + 0.9949226975440979, + 0.043780894777950295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9956902861595154, + 0.02976296655833721, + 0.08783514052629471, + -0.046402403129841466 + ], + [ + -0.0341152660548687, + 0.9982417225837708, + 0.04847266152501106, + 0.01800057907508412 + ], + [ + -0.08623801916837692, + -0.05126027390360832, + 0.9949549436569214, + 0.04122282974989281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9956062436103821, + 0.029855545610189438, + 0.0887514054775238, + -0.04681636798881032 + ], + [ + -0.034102197736501694, + 0.9983255863189697, + 0.0467238649725914, + 0.01566963505548269 + ], + [ + -0.08720782399177551, + -0.04954519122838974, + 0.9949573278427124, + 0.042602021307660845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9954649806022644, + 0.03220756724476814, + 0.08951066434383392, + -0.04452518046015713 + ], + [ + -0.03627077862620354, + 0.9983665347099304, + 0.04414372146129608, + 0.01443174707556739 + ], + [ + -0.0879426896572113, + -0.04719015210866928, + 0.9950070977210999, + 0.04070016520882621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9953296184539795, + 0.034036070108413696, + 0.09033574163913727, + -0.04523368202017497 + ], + [ + -0.03782054781913757, + 0.9984627962112427, + 0.04051734507083893, + 0.012843169802374344 + ], + [ + -0.08881781995296478, + -0.043744660913944244, + 0.9950868487358093, + 0.03942347752110002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9953240156173706, + 0.033874526619911194, + 0.09045770019292831, + -0.04546481075739195 + ], + [ + -0.03737848252058029, + 0.9986038208007812, + 0.037326548248529434, + 0.010502025461401129 + ], + [ + -0.0890669897198677, + -0.04053318127989769, + 0.9952005743980408, + 0.039678154791218376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953312277793884, + 0.03420041874051094, + 0.0902554914355278, + -0.04603339016891373 + ], + [ + -0.0372883640229702, + 0.9987676739692688, + 0.032751452177762985, + 0.008254048665087235 + ], + [ + -0.08902416378259659, + -0.03596402332186699, + 0.9953799843788147, + 0.038984718472521926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9953392744064331, + 0.035295262932777405, + 0.08974377810955048, + -0.04736040970263293 + ], + [ + -0.03805409371852875, + 0.9988484382629395, + 0.029217800125479698, + 0.0078512861563583 + ], + [ + -0.08860918879508972, + -0.03249674290418625, + 0.995536208152771, + 0.0367999496987931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954030513763428, + 0.034617528319358826, + 0.0892997458577156, + -0.04663735443092693 + ], + [ + -0.03721103072166443, + 0.9989277720451355, + 0.027542725205421448, + 0.006367429620515423 + ], + [ + -0.0882505401968956, + -0.03073904663324356, + 0.9956238865852356, + 0.038368031454419124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9954538345336914, + 0.03444400802254677, + 0.08879920095205307, + -0.04838447389925646 + ], + [ + -0.036750104278326035, + 0.9990249276161194, + 0.02446657419204712, + 0.004090750679553387 + ], + [ + -0.08786989003419876, + -0.02761872485280037, + 0.9957489967346191, + 0.03627098783245546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9955585598945618, + 0.034292735159397125, + 0.08767672628164291, + -0.04967132818974971 + ], + [ + -0.036219216883182526, + 0.9991340637207031, + 0.020476464182138443, + 0.001950420800662661 + ], + [ + -0.08689861744642258, + -0.023561101406812668, + 0.9959384799003601, + 0.03568531758137766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9957088828086853, + 0.03298948332667351, + 0.0864613950252533, + -0.051341178510243515 + ], + [ + -0.03461334481835365, + 0.9992501735687256, + 0.017349565401673317, + -0.00013560553490264628 + ], + [ + -0.08582420647144318, + -0.02026783488690853, + 0.9961041212081909, + 0.03445605701071962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9958001375198364, + 0.03162645176053047, + 0.0859178975224495, + -0.0501868490271535 + ], + [ + -0.0328885056078434, + 0.9993703365325928, + 0.013313143514096737, + -0.003933796598126894 + ], + [ + -0.08544275909662247, + -0.016082940623164177, + 0.9962132573127747, + 0.035531232437960386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9957821369171143, + 0.032811298966407776, + 0.08568175882101059, + -0.04968289742388096 + ], + [ + -0.03362336754798889, + 0.9994021654129028, + 0.008051474578678608, + -0.00537694405509055 + ], + [ + -0.08536636084318161, + -0.010898423381149769, + 0.9962900280952454, + 0.03340375469004745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9957713484764099, + 0.03281818702816963, + 0.08580467849969864, + -0.05133777980309755 + ], + [ + -0.03326142206788063, + 0.9994396567344666, + 0.003740690415725112, + -0.006596434998519833 + ], + [ + -0.08563383668661118, + -0.0065788570791482925, + 0.9963049292564392, + 0.03133436252509579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9958227872848511, + 0.03119460865855217, + 0.08581310510635376, + -0.052919121300281605 + ], + [ + -0.0313754640519619, + 0.9995073676109314, + 0.0007593187037855387, + -0.010415746191242322 + ], + [ + -0.08574715256690979, + -0.0034485727082937956, + 0.9963109493255615, + 0.03029497752372686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9959506988525391, + 0.030520513653755188, + 0.08456162363290787, + -0.05351096903668896 + ], + [ + -0.030287954956293106, + 0.9995330572128296, + -0.004031985066831112, + -0.013734421654968396 + ], + [ + -0.08464520424604416, + 0.001454459852539003, + 0.996410071849823, + 0.027773112644852722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9960903525352478, + 0.029034584760665894, + 0.0834326446056366, + -0.053265625611893117 + ], + [ + -0.02844833955168724, + 0.9995615482330322, + -0.008207076229155064, + -0.015786874107070987 + ], + [ + -0.08363436162471771, + 0.005801469087600708, + 0.9964796304702759, + 0.027601878651356333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9962165951728821, + 0.02697955071926117, + 0.08261130750179291, + -0.051668668070306935 + ], + [ + -0.026127737015485764, + 0.9995939135551453, + -0.011375069618225098, + -0.016284402219701538 + ], + [ + -0.08288465440273285, + 0.009173586964607239, + 0.9965169429779053, + 0.02792186290025711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.996253252029419, + 0.027084777131676674, + 0.08213336765766144, + -0.050814124562678295 + ], + [ + -0.0258935634046793, + 0.9995440244674683, + -0.01553425844758749, + -0.018702861367899754 + ], + [ + -0.08251665532588959, + 0.013349329121410847, + 0.9965002536773682, + 0.02976825742173921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9963018894195557, + 0.026613444089889526, + 0.08169650286436081, + -0.052989895002642264 + ], + [ + -0.025219567120075226, + 0.9995190501213074, + -0.01804656907916069, + -0.021015633523539842 + ], + [ + -0.08213748782873154, + 0.015919480472803116, + 0.9964938759803772, + 0.026456931598371057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9963902235031128, + 0.026100825518369675, + 0.08077925443649292, + -0.05259737388944717 + ], + [ + -0.024629149585962296, + 0.9995129704475403, + -0.019161760807037354, + -0.021657935565876477 + ], + [ + -0.08124005794525146, + 0.01710306480526924, + 0.9965478181838989, + 0.0268821543659353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9964505434036255, + 0.02578306756913662, + 0.08013483881950378, + -0.05293696312432362 + ], + [ + -0.02419254370033741, + 0.999491810798645, + -0.02075616642832756, + -0.023061607796036956 + ], + [ + -0.08062927424907684, + 0.01874382793903351, + 0.9965679049491882, + 0.025273263201041875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9965424537658691, + 0.025895871222019196, + 0.07894629240036011, + -0.0540470640728165 + ], + [ + -0.024291858077049255, + 0.9994798898696899, + -0.0212110448628664, + -0.023251211285818047 + ], + [ + -0.07945451140403748, + 0.019219955429434776, + 0.9966531991958618, + 0.02465398032123667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9966980814933777, + 0.023864854127168655, + 0.07761052995920181, + -0.05474178555331709 + ], + [ + -0.0223209448158741, + 0.9995365142822266, + -0.020700177177786827, + -0.02198928939887715 + ], + [ + -0.0780685618519783, + 0.01889948733150959, + 0.9967688322067261, + 0.02599791010964643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9967296123504639, + 0.02323959767818451, + 0.0773949846625328, + -0.05653646978251825 + ], + [ + -0.02173294499516487, + 0.9995586276054382, + -0.020252877846360207, + -0.02391891245385112 + ], + [ + -0.07783149927854538, + 0.01850462146103382, + 0.9967947602272034, + 0.023354409983012882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9967686533927917, + 0.023217719048261642, + 0.07689719647169113, + -0.05753756036537552 + ], + [ + -0.021681468933820724, + 0.9995495080947876, + -0.020753048360347748, + -0.022193517583200168 + ], + [ + -0.0773443952202797, + 0.019018743187189102, + 0.9968230128288269, + 0.023707562632064527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968999028205872, + 0.02243761345744133, + 0.07541295140981674, + -0.05751413253944386 + ], + [ + -0.021075304597616196, + 0.999600887298584, + -0.018812257796525955, + -0.021446743972486047 + ], + [ + -0.07580495625734329, + 0.01716458797454834, + 0.9969749450683594, + 0.02559353240628533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9969289898872375, + 0.022413242608308792, + 0.07503506541252136, + -0.058091370178017826 + ], + [ + -0.02114493027329445, + 0.9996204972267151, + -0.017655009403824806, + -0.019350930475417128 + ], + [ + -0.07540230453014374, + 0.016014179214835167, + 0.9970245957374573, + 0.023991087487506384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969267845153809, + 0.02253517508506775, + 0.07502783834934235, + -0.060419352503899994 + ], + [ + -0.02149679884314537, + 0.9996620416641235, + -0.014618913643062115, + -0.016046568148102857 + ], + [ + -0.0753319263458252, + 0.012961127795279026, + 0.9970742464065552, + 0.020881386643965837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9969761371612549, + 0.022060871124267578, + 0.07451128959655762, + -0.06031274644913256 + ], + [ + -0.021482523530721664, + 0.9997326135635376, + -0.008554521016776562, + -0.014099550506260794 + ], + [ + -0.07468008995056152, + 0.006927962880581617, + 0.9971835017204285, + 0.02421577979389786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9969653487205505, + 0.022115934640169144, + 0.07463893294334412, + -0.058728060339988786 + ], + [ + -0.021984219551086426, + 0.9997549653053284, + -0.0025859102606773376, + -0.008933188214066065 + ], + [ + -0.07467783987522125, + 0.0009371842606924474, + 0.9972072839736938, + 0.02752791095506116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.996839702129364, + 0.02410866506397724, + 0.07569240778684616, + -0.06439449380950879 + ], + [ + -0.024477588012814522, + 0.9996925592422485, + 0.0039498996920883656, + -0.0032221672106250592 + ], + [ + -0.07557391375303268, + -0.005790183786302805, + 0.9971234202384949, + 0.020379050456100913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9968488812446594, + 0.024137703701853752, + 0.07556239515542984, + -0.05846984276576393 + ], + [ + -0.025186708196997643, + 0.9995987415313721, + 0.012960477732121944, + -0.0020172388243210044 + ], + [ + -0.07521923631429672, + -0.014822806231677532, + 0.9970568418502808, + 0.027674811953669273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9966873526573181, + 0.025960268452763557, + 0.0770738273859024, + -0.06635055220520436 + ], + [ + -0.027554409578442574, + 0.9994263052940369, + 0.01969221793115139, + 0.001686151406868375 + ], + [ + -0.07651840150356293, + -0.021750709041953087, + 0.9968308806419373, + 0.020825880463353267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9967551827430725, + 0.025459034368395805, + 0.07636071741580963, + -0.05971813690352258 + ], + [ + -0.027621792629361153, + 0.9992427825927734, + 0.02740163542330265, + 0.00558642853041969 + ], + [ + -0.07560527324676514, + -0.029421942308545113, + 0.9967036843299866, + 0.028066906527743726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.996599018573761, + 0.025878814980387688, + 0.07823496311903, + -0.0644657846426752 + ], + [ + -0.028533587232232094, + 0.9990476965904236, + 0.03300795331597328, + 0.010139163422781199 + ], + [ + -0.07730624824762344, + -0.03512801602482796, + 0.9963883757591248, + 0.026277725882639134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9965723156929016, + 0.02588685043156147, + 0.07857141643762589, + -0.06000931923405319 + ], + [ + -0.029064809903502464, + 0.9987937808036804, + 0.03957622870802879, + 0.012877407399606584 + ], + [ + -0.07745213061571121, + -0.04172423854470253, + 0.9961225986480713, + 0.03150543947396847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9963809251785278, + 0.026806434616446495, + 0.08066282421350479, + -0.061841827379492335 + ], + [ + -0.030514350160956383, + 0.9985166788101196, + 0.045091938227415085, + 0.0172364014063768 + ], + [ + -0.07933441549539566, + -0.04739012196660042, + 0.9957209825515747, + 0.03256959148545556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9961894750595093, + 0.02799300104379654, + 0.08260084688663483, + -0.061533386214886826 + ], + [ + -0.03224903345108032, + 0.9981957077980042, + 0.05064906179904938, + 0.018900219525026185 + ], + [ + -0.08103398978710175, + -0.05311986058950424, + 0.9952948093414307, + 0.03416704530756788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9960274696350098, + 0.028134189546108246, + 0.08448544144630432, + -0.06152454884581003 + ], + [ + -0.03285837918519974, + 0.9979423880577087, + 0.05505738779902458, + 0.021744789065897163 + ], + [ + -0.08276261389255524, + -0.05761472508311272, + 0.9949024319648743, + 0.0342252354520529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9959198832511902, + 0.027814405038952827, + 0.08584871888160706, + -0.061771693393625884 + ], + [ + -0.032950565218925476, + 0.9977138638496399, + 0.05900266394019127, + 0.025553184925450893 + ], + [ + -0.08401133120059967, + -0.06159069016575813, + 0.9945595264434814, + 0.03486617946723088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9957360029220581, + 0.02767891250550747, + 0.08799806982278824, + -0.06154416495470831 + ], + [ + -0.03335185348987579, + 0.9974139332771301, + 0.0636640265583992, + 0.0280836017679442 + ], + [ + -0.08600834757089615, + -0.06632746011018753, + 0.9940841197967529, + 0.03461646325508048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9955121874809265, + 0.02700994163751602, + 0.09069698303937912, + -0.06154490868055124 + ], + [ + -0.03341358155012131, + 0.9969980716705322, + 0.06984542310237885, + 0.030880868302535284 + ], + [ + -0.08853819221258163, + -0.07256248593330383, + 0.9934262037277222, + 0.03709914073877528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9952455759048462, + 0.026810679584741592, + 0.0936347097158432, + -0.06094974235437697 + ], + [ + -0.033934202045202255, + 0.9965807795524597, + 0.07533378154039383, + 0.032838820804118506 + ], + [ + -0.09129481017589569, + -0.07815303653478622, + 0.9927524328231812, + 0.039201204172397024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9949187636375427, + 0.027714267373085022, + 0.09679163992404938, + -0.05978443888276058 + ], + [ + -0.03544945269823074, + 0.9962335228919983, + 0.07913332432508469, + 0.0361563589631906 + ], + [ + -0.09423395991325378, + -0.08216243237257004, + 0.9921538829803467, + 0.04086846639662225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9947032332420349, + 0.027193766087293625, + 0.0991261750459671, + -0.05916277018522247 + ], + [ + -0.03561285510659218, + 0.9958140850067139, + 0.08417846262454987, + 0.04124203317699396 + ], + [ + -0.09642212092876434, + -0.08726274967193604, + 0.9915079474449158, + 0.04081317389071895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944984316825867, + 0.02712221071124077, + 0.10117924213409424, + -0.05742905754595995 + ], + [ + -0.036352310329675674, + 0.9952303171157837, + 0.09052719175815582, + 0.04205939227403118 + ], + [ + -0.09824134409427643, + -0.09370724856853485, + 0.990740954875946, + 0.043470602331276476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9941511750221252, + 0.027919720858335495, + 0.10432600975036621, + -0.05960627272346903 + ], + [ + -0.03791414573788643, + 0.9947473406791687, + 0.09508007019758224, + 0.04518149467326965 + ], + [ + -0.10112340748310089, + -0.09847939759492874, + 0.9899877905845642, + 0.04333331794454361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9939959645271301, + 0.027158521115779877, + 0.1059926301240921, + -0.058838928820385696 + ], + [ + -0.037888914346694946, + 0.9942077398300171, + 0.10057507455348969, + 0.050322786189124065 + ], + [ + -0.10264723002910614, + -0.10398715734481812, + 0.9892675280570984, + 0.04553026024838389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9937424063682556, + 0.026672732084989548, + 0.10846468061208725, + -0.058860033727369185 + ], + [ + -0.0384061224758625, + 0.9934553503990173, + 0.10757073014974594, + 0.05306809286818589 + ], + [ + -0.10488561540842056, + -0.11106330901384354, + 0.9882630705833435, + 0.04677481098752942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9935159087181091, + 0.02546197921037674, + 0.11080513149499893, + -0.057252813559640105 + ], + [ + -0.0380755290389061, + 0.9928362965583801, + 0.11325351148843765, + 0.056907399732449335 + ], + [ + -0.10712770372629166, + -0.11673813313245773, + 0.9873681664466858, + 0.05023012227062042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9933950901031494, + 0.023214906454086304, + 0.11237127333879471, + -0.056836539895869405 + ], + [ + -0.03666532039642334, + 0.9921987056732178, + 0.11915279179811478, + 0.05856565223808216 + ], + [ + -0.10872850567102432, + -0.1224859282374382, + 0.9864965081214905, + 0.050766793540135254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9932559132575989, + 0.022171933203935623, + 0.11380264163017273, + -0.056321447105223764 + ], + [ + -0.03641579672694206, + 0.9915316700935364, + 0.12465469539165497, + 0.06317729348231693 + ], + [ + -0.11007508635520935, + -0.12795822322368622, + 0.9856521487236023, + 0.0518079715899102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9930173754692078, + 0.021658262237906456, + 0.11596281081438065, + -0.056226674911830817 + ], + [ + -0.03683234006166458, + 0.9907827973365784, + 0.13035663962364197, + 0.06667167848061184 + ], + [ + -0.11207065731287003, + -0.1337175965309143, + 0.9846622347831726, + 0.0534142271743208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.992793083190918, + 0.020187081769108772, + 0.1181287169456482, + -0.055678112792361734 + ], + [ + -0.036276452243328094, + 0.9900879859924316, + 0.13568270206451416, + 0.06919909337450406 + ], + [ + -0.11421878635883331, + -0.1389901340007782, + 0.9836848378181458, + 0.055948685964351985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9925592541694641, + 0.018668320029973984, + 0.12032291293144226, + -0.05542074623966807 + ], + [ + -0.035657498985528946, + 0.9894194602966309, + 0.14063309133052826, + 0.07134598575834998 + ], + [ + -0.11642444133758545, + -0.14387710392475128, + 0.9827231168746948, + 0.05636244446871244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.992338240146637, + 0.01795203424990177, + 0.1222395971417427, + -0.053839139650731824 + ], + [ + -0.03576011210680008, + 0.9887720942497253, + 0.1450893133878708, + 0.07306193899230909 + ], + [ + -0.11826246231794357, + -0.14834897220134735, + 0.9818383455276489, + 0.05910619376274535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9920952320098877, + 0.017921917140483856, + 0.12420095503330231, + -0.05248603305500474 + ], + [ + -0.03636752441525459, + 0.9883360266685486, + 0.14788271486759186, + 0.0751338801578368 + ], + [ + -0.1201019436120987, + -0.1512306183576584, + 0.9811752438545227, + 0.06108575259444072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9918342232704163, + 0.018184423446655273, + 0.12623071670532227, + -0.05272161644283058 + ], + [ + -0.037267837673425674, + 0.987905740737915, + 0.1505102962255478, + 0.07721982488247948 + ], + [ + -0.12196710705757141, + -0.15398560464382172, + 0.9805164337158203, + 0.06263249319822049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9916687607765198, + 0.017681635916233063, + 0.12759460508823395, + -0.052184918427811505 + ], + [ + -0.03741060197353363, + 0.987373411655426, + 0.15392930805683136, + 0.07821002611654058 + ], + [ + -0.12326179444789886, + -0.1574202924966812, + 0.9798088669776917, + 0.06281464116524924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9915090799331665, + 0.017329789698123932, + 0.12887755036354065, + -0.05190737701498614 + ], + [ + -0.03769753873348236, + 0.9868267178535461, + 0.15732726454734802, + 0.08017692518264509 + ], + [ + -0.12445336580276489, + -0.16084977984428406, + 0.9791009426116943, + 0.06510476230969889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9913569688796997, + 0.01738814078271389, + 0.1300344616174698, + -0.052209522126025046 + ], + [ + -0.038247257471084595, + 0.986426830291748, + 0.15968506038188934, + 0.08174487120155151 + ], + [ + -0.1254928559064865, + -0.16327835619449615, + 0.9785661697387695, + 0.06680459357457717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9912344217300415, + 0.017331233248114586, + 0.13097308576107025, + -0.05227772744117201 + ], + [ + -0.03861444443464279, + 0.9860745072364807, + 0.16175906360149384, + 0.0830420162472023 + ], + [ + -0.12634573876857758, + -0.16539861261844635, + 0.9781002402305603, + 0.06816339366478363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9912169575691223, + 0.01708274334669113, + 0.13113762438297272, + -0.05286326684946488 + ], + [ + -0.038695380091667175, + 0.9856875538825989, + 0.1640816032886505, + 0.08466543131673397 + ], + [ + -0.12645776569843292, + -0.1677148938179016, + 0.9776912331581116, + 0.06884673361472672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9911544322967529, + 0.01655621826648712, + 0.13167689740657806, + -0.0541338540556921 + ], + [ + -0.03861827775835991, + 0.9852325916290283, + 0.16680943965911865, + 0.08545959593378348 + ], + [ + -0.12697063386440277, + -0.17041903734207153, + 0.9771569967269897, + 0.06922824801829866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9911249876022339, + 0.015703529119491577, + 0.13200253248214722, + -0.05529685222264852 + ], + [ + -0.038233328610658646, + 0.9847151041030884, + 0.169924795627594, + 0.08671334038871496 + ], + [ + -0.12731647491455078, + -0.1734636127948761, + 0.9765760898590088, + 0.07073558182431962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9911801218986511, + 0.01437648106366396, + 0.13173937797546387, + -0.05433238780003059 + ], + [ + -0.03711118921637535, + 0.9844347834587097, + 0.17178739607334137, + 0.08786958765030513 + ], + [ + -0.12721914052963257, + -0.17516125738620758, + 0.9762857556343079, + 0.0728929615943565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9912064671516418, + 0.014000827446579933, + 0.13158154487609863, + -0.054338146176018995 + ], + [ + -0.03692907840013504, + 0.9841464757919312, + 0.17347022891044617, + 0.0892452753777734 + ], + [ + -0.12706679105758667, + -0.17680400609970093, + 0.9760094285011292, + 0.07243729394855838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9911652207374573, + 0.013205836527049541, + 0.13197381794452667, + -0.05437004316390166 + ], + [ + -0.03656553849577904, + 0.9836771488189697, + 0.17618809640407562, + 0.09114135627062793 + ], + [ + -0.12749291956424713, + -0.17945720255374908, + 0.9754694700241089, + 0.07385939613060298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9910842776298523, + 0.012015672400593758, + 0.132693350315094, + -0.053988119001089005 + ], + [ + -0.035800665616989136, + 0.9833150506019592, + 0.17835325002670288, + 0.09249166125422202 + ], + [ + -0.1283363401889801, + -0.18151360750198364, + 0.9749782681465149, + 0.07433399750193968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9910192489624023, + 0.010822449810802937, + 0.13328050076961517, + -0.05564663263255268 + ], + [ + -0.035025499761104584, + 0.9829289317131042, + 0.1806209236383438, + 0.0924925439929599 + ], + [ + -0.12905050814151764, + -0.18366701900959015, + 0.9744805693626404, + 0.07454379133615396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9910439848899841, + 0.009596379473805428, + 0.13319075107574463, + -0.05594369459727089 + ], + [ + -0.034016355872154236, + 0.9826527833938599, + 0.18230843544006348, + 0.09357384353270991 + ], + [ + -0.1291307508945465, + -0.1852063238620758, + 0.9741785526275635, + 0.07687105093208062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9910458922386169, + 0.009170749224722385, + 0.13320618867874146, + -0.056154875149997646 + ], + [ + -0.03379058465361595, + 0.9823890328407288, + 0.18376609683036804, + 0.09444261953461594 + ], + [ + -0.12917503714561462, + -0.186621755361557, + 0.9739025235176086, + 0.07661285153046477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9909729957580566, + 0.009095856919884682, + 0.1337527483701706, + -0.05507857252082546 + ], + [ + -0.03401932120323181, + 0.9821003079414368, + 0.18526114523410797, + 0.09653474147701022 + ], + [ + -0.12967349588871002, + -0.18813897669315338, + 0.9735442996025085, + 0.07860008928225125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9908280968666077, + 0.008544500917196274, + 0.13485819101333618, + -0.054346464130895084 + ], + [ + -0.03397079557180405, + 0.9816979765892029, + 0.18739016354084015, + 0.09817044751595724 + ], + [ + -0.1307888627052307, + -0.19025267660617828, + 0.9729841947555542, + 0.07863672779598817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9908046722412109, + 0.007679123431444168, + 0.13508211076259613, + -0.05345829893470869 + ], + [ + -0.03345006704330444, + 0.98129802942276, + 0.1895660161972046, + 0.0990338131482831 + ], + [ + -0.1311001032590866, + -0.1923413872718811, + 0.9725314974784851, + 0.08056481466226771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9908440113067627, + 0.006934552453458309, + 0.1348334550857544, + -0.054218284036907455 + ], + [ + -0.032660868018865585, + 0.9813290238380432, + 0.18954309821128845, + 0.09737990664195288 + ], + [ + -0.13100159168243408, + -0.19221141934394836, + 0.9725704789161682, + 0.08029584997347769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9908463358879089, + 0.006539287976920605, + 0.13483630120754242, + -0.05477661168779516 + ], + [ + -0.03221450373530388, + 0.9814231395721436, + 0.18913167715072632, + 0.09868925589557528 + ], + [ + -0.13109467923641205, + -0.1917441189289093, + 0.9726501703262329, + 0.08002785347439915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9908584952354431, + 0.005123643204569817, + 0.1348077803850174, + -0.05337800175556677 + ], + [ + -0.0309071633964777, + 0.9813215732574463, + 0.18987540900707245, + 0.09878696367560608 + ], + [ + -0.13131694495677948, + -0.19230620563030243, + 0.9725092053413391, + 0.07998189339934267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9907658696174622, + 0.005125099793076515, + 0.13548709452152252, + -0.055158736722231816 + ], + [ + -0.031098728999495506, + 0.981234073638916, + 0.19029591977596283, + 0.0987765469611977 + ], + [ + -0.13196925818920135, + -0.1927521675825119, + 0.9723325967788696, + 0.08056547695458843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9907563328742981, + 0.004568438045680523, + 0.13557645678520203, + -0.055330163279198444 + ], + [ + -0.030605163425207138, + 0.9811921715736389, + 0.1905916929244995, + 0.10020803444579168 + ], + [ + -0.1321558654308319, + -0.19297927618026733, + 0.9722622036933899, + 0.0821112645080852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9907658100128174, + 0.004126375541090965, + 0.13552142679691315, + -0.055579628009670576 + ], + [ + -0.030246267095208168, + 0.9810749292373657, + 0.19125156104564667, + 0.10139485558372009 + ], + [ + -0.1321675032377243, + -0.19358451664447784, + 0.9721403121948242, + 0.08346578517389781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9907679557800293, + 0.003458593972027302, + 0.13552439212799072, + -0.055701723116152166 + ], + [ + -0.029708079993724823, + 0.9809154868125916, + 0.19215157628059387, + 0.10209968773846699 + ], + [ + -0.13227340579032898, + -0.19440379738807678, + 0.9719623923301697, + 0.0837249628859123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9907859563827515, + 0.0027966341003775597, + 0.1354081779718399, + -0.0557514442991333 + ], + [ + -0.02914566919207573, + 0.9807650446891785, + 0.19300371408462524, + 0.10301486961165358 + ], + [ + -0.13226385414600372, + -0.19517192244529724, + 0.9718097448348999, + 0.08467018703367504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.990822970867157, + 0.002343391068279743, + 0.1351456642150879, + -0.05685960889373183 + ], + [ + -0.028740622103214264, + 0.9806380867958069, + 0.1937084197998047, + 0.10322396171274524 + ], + [ + -0.13207504153251648, + -0.19581490755081177, + 0.9717060923576355, + 0.08451133942997395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9907891154289246, + 0.0023114392533898354, + 0.1353943645954132, + -0.060698058654738554 + ], + [ + -0.028837554156780243, + 0.9805205464363098, + 0.1942881941795349, + 0.1024331996397016 + ], + [ + -0.13230785727500916, + -0.19640305638313293, + 0.9715557098388672, + 0.08325226105711787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.990816593170166, + 0.001920768991112709, + 0.1351989358663559, + -0.061402641286893836 + ], + [ + -0.02849547378718853, + 0.9804085493087769, + 0.19490282237529755, + 0.10322491337313568 + ], + [ + -0.13217581808567047, + -0.19696550071239471, + 0.9714598059654236, + 0.08310424660516874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9909376502037048, + 0.001475609838962555, + 0.13431474566459656, + -0.06239731572001113 + ], + [ + -0.028083916753530502, + 0.9801160097122192, + 0.19642773270606995, + 0.10405208116141976 + ], + [ + -0.1313541829586029, + -0.1984197199344635, + 0.971275269985199, + 0.08290135523843281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9910551309585571, + 0.0017883405089378357, + 0.13344091176986694, + -0.06374795884839471 + ], + [ + -0.028347700834274292, + 0.9799123406410217, + 0.1974036544561386, + 0.10410970552318592 + ], + [ + -0.13040736317634583, + -0.19942064583301544, + 0.9711979031562805, + 0.08275657661523916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9911285638809204, + 0.0010229935869574547, + 0.13290289044380188, + -0.06407641198599551 + ], + [ + -0.027518395334482193, + 0.9798808693885803, + 0.1976771056652069, + 0.10511153788320002 + ], + [ + -0.13002678751945496, + -0.19958069920539856, + 0.9712160229682922, + 0.08454015881276977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9912921786308289, + 0.0012145908549427986, + 0.13167519867420197, + -0.0654761180243819 + ], + [ + -0.027598030865192413, + 0.9796656370162964, + 0.19873005151748657, + 0.10541393233434804 + ], + [ + -0.1287562996149063, + -0.20063352584838867, + 0.9711683988571167, + 0.08434790346374367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9914771914482117, + 0.0014516860246658325, + 0.13027232885360718, + -0.0669540742138013 + ], + [ + -0.02771482616662979, + 0.9794001579284668, + 0.20001819729804993, + 0.10629792016396668 + ], + [ + -0.12729838490486145, + -0.20192396640777588, + 0.9710931181907654, + 0.08617718196308552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9916444420814514, + 0.0012580687180161476, + 0.12899483740329742, + -0.06723172336930248 + ], + [ + -0.027341332286596298, + 0.9792844653129578, + 0.20063497126102448, + 0.10732241503629587 + ], + [ + -0.12607021629810333, + -0.20248545706272125, + 0.9711363911628723, + 0.08728671624575775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9917850494384766, + 0.0006964923813939095, + 0.12791387736797333, + -0.06894420950772799 + ], + [ + -0.02665434032678604, + 0.979159951210022, + 0.2013339102268219, + 0.10796291591022826 + ], + [ + -0.12510792911052704, + -0.2030894160270691, + 0.9711347222328186, + 0.08831226162347697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9919821619987488, + 0.0001684371381998062, + 0.12637807428836823, + -0.06989430768727348 + ], + [ + -0.025894982740283012, + 0.9790527820587158, + 0.20195318758487701, + 0.10791845599066485 + ], + [ + -0.12369678914546967, + -0.2036065012216568, + 0.9712072610855103, + 0.08941895461021945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9921100735664368, + -8.573848754167557e-05, + 0.12536966800689697, + -0.07213408424788471 + ], + [ + -0.025415901094675064, + 0.9790973663330078, + 0.20179776847362518, + 0.10805857914315566 + ], + [ + -0.1227664202451706, + -0.20339198410511017, + 0.9713702201843262, + 0.08895945949905415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9922490119934082, + -0.0008902549743652344, + 0.12426245957612991, + -0.07459442036387127 + ], + [ + -0.024441907182335854, + 0.9790422320365906, + 0.20218543708324432, + 0.10817729371982783 + ], + [ + -0.12183818966150284, + -0.20365549623966217, + 0.9714319109916687, + 0.08829809800924988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9924534559249878, + -0.001743982546031475, + 0.12260936200618744, + -0.07682215113589909 + ], + [ + -0.023338396102190018, + 0.9789347052574158, + 0.20283539593219757, + 0.10856588245534958 + ], + [ + -0.12038029730319977, + -0.20416618883609772, + 0.9715064167976379, + 0.08989423986165052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.992675244808197, + -0.0019028065726161003, + 0.12079840898513794, + -0.07782941155719482 + ], + [ + -0.022864539176225662, + 0.9788472652435303, + 0.2033107876777649, + 0.11110711270555627 + ], + [ + -0.118630051612854, + -0.20458358526229858, + 0.9716339111328125, + 0.09164292682245903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9928132891654968, + -0.0014883894473314285, + 0.11966429650783539, + -0.07815371429202558 + ], + [ + -0.023132264614105225, + 0.9786781072616577, + 0.20409326255321503, + 0.11168733409364817 + ], + [ + -0.11741660535335541, + -0.20539461076259613, + 0.9716101884841919, + 0.0920878035314192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9929104447364807, + -0.0021666185930371284, + 0.11884522438049316, + -0.0807933735269415 + ], + [ + -0.02240823581814766, + 0.9784946441650391, + 0.20505155622959137, + 0.11328090473933873 + ], + [ + -0.11673368513584137, + -0.20626093447208405, + 0.9715089797973633, + 0.09386435143536118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9930619597434998, + -0.003201534040272236, + 0.11754892766475677, + -0.08202616741400931 + ], + [ + -0.02124651148915291, + 0.9782925248146057, + 0.20613664388656616, + 0.11303274574959037 + ], + [ + -0.11565719544887543, + -0.2072039544582367, + 0.9714370369911194, + 0.09360064617570887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9931002259254456, + -0.0031674355268478394, + 0.11722586303949356, + -0.08347568996794294 + ], + [ + -0.02136174775660038, + 0.9780237674713135, + 0.20739609003067017, + 0.11422962510230275 + ], + [ + -0.11530659347772598, + -0.2084692418575287, + 0.9712079763412476, + 0.09475395252861953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9930988550186157, + -0.003197810612618923, + 0.11723681539297104, + -0.0847944104798176 + ], + [ + -0.02155083790421486, + 0.9776309132575989, + 0.20922093093395233, + 0.11462511906428688 + ], + [ + -0.11528337746858597, + -0.21030361950397491, + 0.9708151817321777, + 0.09488497927482359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9931278228759766, + -0.004134785383939743, + 0.11696154624223709, + -0.08588264534027708 + ], + [ + -0.02066664583981037, + 0.9774749279022217, + 0.21003717184066772, + 0.11512175089287274 + ], + [ + -0.11519544571638107, + -0.21101096272468567, + 0.9706721305847168, + 0.09604893021172073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.993220865726471, + -0.005117865279316902, + 0.1161298155784607, + -0.0877466621397413 + ], + [ + -0.019537538290023804, + 0.9774684309959412, + 0.2101755440235138, + 0.11519090029491386 + ], + [ + -0.11458887159824371, + -0.2110196352005005, + 0.9707420468330383, + 0.09662113111787642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9932770729064941, + -0.005576426163315773, + 0.11562687158584595, + -0.08927348323289287 + ], + [ + -0.01899547129869461, + 0.9774484038352966, + 0.2103181928396225, + 0.1152018413552778 + ], + [ + -0.11419212818145752, + -0.21110062301158905, + 0.9707711935043335, + 0.09539783503198382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9933966398239136, + -0.006762365810573101, + 0.11453128606081009, + -0.09079434474703246 + ], + [ + -0.017593685537576675, + 0.9774755239486694, + 0.21031419932842255, + 0.11451789200268118 + ], + [ + -0.11337374895811081, + -0.2109404355287552, + 0.9709019064903259, + 0.09683292570528645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.993525505065918, + -0.00651960214599967, + 0.1134219616651535, + -0.09191851990325801 + ], + [ + -0.017456820234656334, + 0.9777352213859558, + 0.20911508798599243, + 0.11548838313612236 + ], + [ + -0.11225999891757965, + -0.20974117517471313, + 0.9712910652160645, + 0.0971912188200176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9935451745986938, + -0.006887161172926426, + 0.11322803050279617, + -0.09325209515840571 + ], + [ + -0.01702355593442917, + 0.9777989983558655, + 0.20885229110717773, + 0.11614433742946174 + ], + [ + -0.11215265840291977, + -0.2094317376613617, + 0.9713702201843262, + 0.09715936338614087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9935640692710876, + -0.00781714916229248, + 0.11300171911716461, + -0.09345105096584347 + ], + [ + -0.016110967844724655, + 0.9777206182479858, + 0.2092912346124649, + 0.11656222569987859 + ], + [ + -0.11212016642093658, + -0.20976482331752777, + 0.9713020920753479, + 0.0989933887940978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9936771392822266, + -0.008116687647998333, + 0.11198140680789948, + -0.09477892621292681 + ], + [ + -0.01562798023223877, + 0.9776750206947327, + 0.20954062044620514, + 0.1172772703512671 + ], + [ + -0.11118219792842865, + -0.209965780377388, + 0.9713665246963501, + 0.1004154226879783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9938322901725769, + -0.00841387826949358, + 0.1105738952755928, + -0.09706536173291012 + ], + [ + -0.015085325576364994, + 0.9775906205177307, + 0.20997373759746552, + 0.11758625820316941 + ], + [ + -0.10986269265413284, + -0.21034671366214752, + 0.9714342355728149, + 0.09956698267895558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9938884377479553, + -0.009039545431733131, + 0.11001862585544586, + -0.09653480518892937 + ], + [ + -0.014395318925380707, + 0.9775177240371704, + 0.21036125719547272, + 0.11773779497004402 + ], + [ + -0.10944673418998718, + -0.21065936982631683, + 0.9714134335517883, + 0.10135005776047101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9939542412757874, + -0.009881227277219296, + 0.1093498170375824, + -0.09743806255064187 + ], + [ + -0.013455060310661793, + 0.977473258972168, + 0.21062996983528137, + 0.11791116417796932 + ], + [ + -0.10896781086921692, + -0.21082785725593567, + 0.9714307188987732, + 0.10194115086557902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9940600395202637, + -0.01055297814309597, + 0.10832001268863678, + -0.0994826348233722 + ], + [ + -0.012594671919941902, + 0.9774461388587952, + 0.21080899238586426, + 0.11762694974292807 + ], + [ + -0.10810163617134094, + -0.210921049118042, + 0.9715072512626648, + 0.10298408878031115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9941659569740295, + -0.011207439936697483, + 0.10727748274803162, + -0.1006298142471138 + ], + [ + -0.011709650047123432, + 0.9774943590164185, + 0.21063640713691711, + 0.11729893618580048 + ], + [ + -0.10722382366657257, + -0.21066373586654663, + 0.9716603755950928, + 0.1031045585719462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9942320585250854, + -0.011726677417755127, + 0.10660737007856369, + -0.10178588993450258 + ], + [ + -0.01099095307290554, + 0.9776307940483093, + 0.21004101634025574, + 0.11757787779484152 + ], + [ + -0.10668573528528214, + -0.21000123023986816, + 0.9718629717826843, + 0.10317654873287012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.994301438331604, + -0.012010977603495121, + 0.10592658817768097, + -0.10312443137225615 + ], + [ + -0.010554111562669277, + 0.9776605367660522, + 0.20992490649223328, + 0.11771561757467573 + ], + [ + -0.10608164966106415, + -0.2098465859889984, + 0.9719625115394592, + 0.1034284876385316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9943820834159851, + -0.012345938012003899, + 0.10512779653072357, + -0.10341982978779048 + ], + [ + -0.010037345811724663, + 0.9777014255523682, + 0.209759920835495, + 0.11818878074758095 + ], + [ + -0.10537327826023102, + -0.20963671803474426, + 0.9720848202705383, + 0.10381832097841398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9944327473640442, + -0.012247232720255852, + 0.10465928912162781, + -0.10455161967990816 + ], + [ + -0.010046789422631264, + 0.9776779413223267, + 0.2098686844110489, + 0.11891101518182585 + ], + [ + -0.10489338636398315, + -0.20975176990032196, + 0.9721119403839111, + 0.10386446235597437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9944872856140137, + -0.012898185290396214, + 0.10406111180782318, + -0.10526110269318377 + ], + [ + -0.009339452721178532, + 0.9775659441947937, + 0.21042248606681824, + 0.11938140644422415 + ], + [ + -0.10444065928459167, + -0.21023434400558472, + 0.9720563888549805, + 0.10426092703027774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9945532083511353, + -0.013181047514081001, + 0.10339351743459702, + -0.10630242876935428 + ], + [ + -0.00896170549094677, + 0.9774843454360962, + 0.21081748604774475, + 0.11987375802535394 + ], + [ + -0.10384433716535568, + -0.21059578657150269, + 0.9720420837402344, + 0.10529696265150448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9946356415748596, + -0.013672426342964172, + 0.10253287106752396, + -0.107568584195324 + ], + [ + -0.008324051275849342, + 0.9774320125579834, + 0.21108610928058624, + 0.12010818557520657 + ], + [ + -0.10310497134923935, + -0.21080724895000458, + 0.9720749258995056, + 0.10688024553172479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9946986436843872, + -0.013846928253769875, + 0.10189635306596756, + -0.10702761167348339 + ], + [ + -0.008043302223086357, + 0.9773803353309631, + 0.21133612096309662, + 0.11911119830789905 + ], + [ + -0.10251785069704056, + -0.2110353261232376, + 0.972087562084198, + 0.10683742287346554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.994711697101593, + -0.013063739985227585, + 0.10187217593193054, + -0.10928968929208173 + ], + [ + -0.008757093921303749, + 0.97747802734375, + 0.21085543930530548, + 0.11959731719234419 + ], + [ + -0.10233236849308014, + -0.21063248813152313, + 0.9721944332122803, + 0.10697471301265174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9947658777236938, + -0.01373686920851469, + 0.10125270485877991, + -0.1116040100565719 + ], + [ + -0.007928040809929371, + 0.9775586128234863, + 0.21051429212093353, + 0.11905336960261395 + ], + [ + -0.1018722653388977, + -0.21021516621112823, + 0.9723330736160278, + 0.10594772057333574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9948804378509521, + -0.01406728196889162, + 0.1000751182436943, + -0.11213217628032424 + ], + [ + -0.007301895879209042, + 0.9776700735092163, + 0.21001896262168884, + 0.11870466579120549 + ], + [ + -0.10079484432935715, + -0.20967450737953186, + 0.9725620746612549, + 0.10624043747480146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.994996190071106, + -0.01416816096752882, + 0.09890306740999222, + -0.11302559700449408 + ], + [ + -0.006881208159029484, + 0.9778264760971069, + 0.20930372178554535, + 0.11842302688146908 + ], + [ + -0.0996754840016365, + -0.20893697440624237, + 0.9728361368179321, + 0.10645145879784211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9950928092002869, + -0.014464478939771652, + 0.09788306802511215, + -0.11340806548705863 + ], + [ + -0.006328927353024483, + 0.9779267907142639, + 0.20885197818279266, + 0.1189204593345069 + ], + [ + -0.09874341636896133, + -0.20844660699367523, + 0.9730363488197327, + 0.10746182453284409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9951462745666504, + -0.01461363397538662, + 0.09731565415859222, + -0.11503288323806626 + ], + [ + -0.006032449658960104, + 0.9779930710792542, + 0.20855024456977844, + 0.11801676599895061 + ], + [ + -0.09822170436382294, + -0.2081250548362732, + 0.9731580018997192, + 0.10744918077276443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9952027201652527, + -0.014795719645917416, + 0.0967087596654892, + -0.11654887272016651 + ], + [ + -0.005676138214766979, + 0.9781009554862976, + 0.20805372297763824, + 0.11791701255422936 + ], + [ + -0.09766922891139984, + -0.2076045721769333, + 0.9733247756958008, + 0.10703066355232055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9952600002288818, + -0.014934390783309937, + 0.0960959866642952, + -0.11757457568144737 + ], + [ + -0.0053841727785766125, + 0.9781606197357178, + 0.207780659198761, + 0.1178034693229622 + ], + [ + -0.0971003845334053, + -0.2073131799697876, + 0.9734437465667725, + 0.10751313457482962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9953304529190063, + -0.014724438078701496, + 0.09539640694856644, + -0.11864509772376966 + ], + [ + -0.005386338569223881, + 0.9782843589782715, + 0.20719729363918304, + 0.11768773428878279 + ], + [ + -0.09637568145990372, + -0.20674361288547516, + 0.9736369252204895, + 0.10756511897378161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9954019784927368, + -0.014322007074952126, + 0.09470893442630768, + -0.11908514068892159 + ], + [ + -0.005600992124527693, + 0.9783636927604675, + 0.20681650936603546, + 0.1176652196279448 + ], + [ + -0.09562180936336517, + -0.20639602839946747, + 0.9737849831581116, + 0.10754268483310786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9954175353050232, + -0.01461108960211277, + 0.09450123459100723, + -0.11977328927383811 + ], + [ + -0.005291881039738655, + 0.9783259630203247, + 0.20700302720069885, + 0.11765166628765425 + ], + [ + -0.09547755867242813, + -0.20655453205108643, + 0.97376549243927, + 0.10755203791000516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9954328536987305, + -0.014832819811999798, + 0.0943048819899559, + -0.12069522170019029 + ], + [ + -0.0050505949184298515, + 0.9782893061637878, + 0.20718246698379517, + 0.11753994849543584 + ], + [ + -0.09533055871725082, + -0.206712543964386, + 0.9737463593482971, + 0.10770017020593439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9954423904418945, + -0.01494571939110756, + 0.0941862016916275, + -0.12165105417370797 + ], + [ + -0.00492197135463357, + 0.9782745838165283, + 0.20725497603416443, + 0.11742388145066798 + ], + [ + -0.09523753821849823, + -0.20677396655082703, + 0.9737424254417419, + 0.10757720172405243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/move_right/transforms.json b/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f50a75767fdc164ae41be403fd380087a0fe6b6a --- /dev/null +++ b/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/move_right/transforms.json @@ -0,0 +1,6943 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 198, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 4.7903893573675305e-05, + -1.3397059774433728e-05, + 3.661001755972393e-05 + ], + [ + -4.790362436324358e-05, + 1.0, + 2.0111605408601463e-05, + 8.499329851474613e-05 + ], + [ + 1.3398023838817608e-05, + -2.0110965124331415e-05, + 1.0, + -0.0001617062953300774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999976754188538, + -0.0014958454994484782, + 0.0015412326902151108, + 0.0013453254072577103 + ], + [ + 0.0014770877314731479, + 0.9999256730079651, + 0.01210075058043003, + 0.0061181351371690975 + ], + [ + -0.0015592190902680159, + -0.012098446488380432, + 0.9999256134033203, + -0.0016658951966848396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999935030937195, + -0.0009253053576685488, + 0.003490034257993102, + 0.00178409188762449 + ], + [ + 0.0008287735399790108, + 0.9996197819709778, + 0.027560032904148102, + 0.014383290373178927 + ], + [ + -0.003514208598062396, + -0.02755695953965187, + 0.9996140599250793, + -0.003040539394109155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999987006187439, + -0.0015105502679944038, + 0.004870587028563023, + 0.004234513348715408 + ], + [ + 0.0012914394028484821, + 0.9990004897117615, + 0.04468000307679176, + 0.025040533099332966 + ], + [ + -0.004933210089802742, + -0.0446731336414814, + 0.998989462852478, + -0.0012827953214988794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999732971191406, + -0.003278229618445039, + 0.006532347295433283, + 0.00610795312319991 + ], + [ + 0.0028644937556236982, + 0.9980490207672119, + 0.06236913055181503, + 0.032308326224290626 + ], + [ + -0.006724062841385603, + -0.062348753213882446, + 0.9980317950248718, + 0.0014747777388804605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999446868896484, + -0.006441405508667231, + 0.008317702449858189, + 0.010652894447297615 + ], + [ + 0.005771225783973932, + 0.9969190359115601, + 0.07822508364915848, + 0.03956880041889771 + ], + [ + -0.00879595521837473, + -0.07817275077104568, + 0.9969010353088379, + 0.006539371769950928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999872088432312, + -0.010875514708459377, + 0.011727968230843544, + 0.015032765791198324 + ], + [ + 0.009779359214007854, + 0.9959133863449097, + 0.08978220820426941, + 0.043449365757027555 + ], + [ + -0.012656468898057938, + -0.08965602517127991, + 0.995892345905304, + 0.00980590452170614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997576475143433, + -0.015987655147910118, + 0.015135095454752445, + 0.017001555882734696 + ], + [ + 0.014428673312067986, + 0.9950782060623169, + 0.0980364978313446, + 0.04492540480238078 + ], + [ + -0.016627976670861244, + -0.09779435396194458, + 0.9950677156448364, + 0.009945968951708472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99969482421875, + -0.017595399171113968, + 0.01733947917819023, + 0.018650288888380915 + ], + [ + 0.015690326690673828, + 0.9944045543670654, + 0.10446719825267792, + 0.04684506698989021 + ], + [ + -0.019080597907304764, + -0.104163259267807, + 0.9943771362304688, + 0.013537656029847068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996494650840759, + -0.017702477052807808, + 0.019687917083501816, + 0.02232336064772255 + ], + [ + 0.015471047721803188, + 0.9940059185028076, + 0.10822593420743942, + 0.04868860168306885 + ], + [ + -0.021485771983861923, + -0.10788340121507645, + 0.9939313530921936, + 0.014789967122605913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995905160903931, + -0.017995506525039673, + 0.0222475528717041, + 0.025477797010450193 + ], + [ + 0.015425067394971848, + 0.9937286376953125, + 0.11074930429458618, + 0.04951915685749296 + ], + [ + -0.02410101890563965, + -0.11036078631877899, + 0.9935993552207947, + 0.017462197889758245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995266795158386, + -0.019130190834403038, + 0.02409176714718342, + 0.026873129349069547 + ], + [ + 0.016342664137482643, + 0.9936848282814026, + 0.11101099103689194, + 0.048415905470737645 + ], + [ + -0.026063283905386925, + -0.11056473106145859, + 0.9935271143913269, + 0.02023189631267096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994650483131409, + -0.020181065425276756, + 0.02573547326028347, + 0.028001323762127592 + ], + [ + 0.01727028377354145, + 0.9939246773719788, + 0.10869880765676498, + 0.04606942209949348 + ], + [ + -0.027772778645157814, + -0.1081962063908577, + 0.9937415719032288, + 0.020565093023144656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9994669556617737, + -0.01977858506143093, + 0.025973645970225334, + 0.032226818616544535 + ], + [ + 0.01698857732117176, + 0.9944780468940735, + 0.1035606786608696, + 0.044671172615575606 + ], + [ + -0.027878502383828163, + -0.10306421667337418, + 0.99428391456604, + 0.023358128888315052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994221329689026, + -0.018905019387602806, + 0.028248894959688187, + 0.03570036501978255 + ], + [ + 0.016012543812394142, + 0.9949262142181396, + 0.09932459145784378, + 0.04568927563575621 + ], + [ + -0.02998330071568489, + -0.09881485253572464, + 0.9946539998054504, + 0.02372402311279084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993457794189453, + -0.016213949769735336, + 0.032328370958566666, + 0.03777120304932147 + ], + [ + 0.013013441115617752, + 0.995212733745575, + 0.0968623161315918, + 0.04475723763899452 + ], + [ + -0.033744122833013535, + -0.09637823700904846, + 0.9947726130485535, + 0.025131726826583673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992285966873169, + -0.014947544783353806, + 0.03631499037146568, + 0.039088702356906105 + ], + [ + 0.011521954089403152, + 0.9956207275390625, + 0.09277211129665375, + 0.040202844918228044 + ], + [ + -0.037542674690485, + -0.09228213131427765, + 0.9950249195098877, + 0.02843111928382198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9990981817245483, + -0.014726602472364902, + 0.03982466831803322, + 0.0365390389495846 + ], + [ + 0.011265759356319904, + 0.9962511658668518, + 0.0857708528637886, + 0.03596543351869066 + ], + [ + -0.04093848541378975, + -0.08524484187364578, + 0.9955186247825623, + 0.02671906584259217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9990569353103638, + -0.01355813629925251, + 0.04124806448817253, + 0.03949131513496643 + ], + [ + 0.010311048477888107, + 0.9969047904014587, + 0.07793933153152466, + 0.03381596136516726 + ], + [ + -0.04217710718512535, + -0.07744051516056061, + 0.9961044192314148, + 0.026707281537240533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989655017852783, + -0.010706854984164238, + 0.04419637843966484, + 0.04020060642343487 + ], + [ + 0.00754271075129509, + 0.9974372386932373, + 0.07114855200052261, + 0.030115769663589254 + ], + [ + -0.044844891875982285, + -0.07074158638715744, + 0.9964861273765564, + 0.028731015910805784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9988844990730286, + -0.007146202493458986, + 0.046676620841026306, + 0.037984509229054914 + ], + [ + 0.004022540058940649, + 0.9977666139602661, + 0.06667554378509521, + 0.0291218603370229 + ], + [ + -0.04704885184764862, + -0.06641340255737305, + 0.996682345867157, + 0.02664152314404243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987969398498535, + -0.0033787996508181095, + 0.04892108589410782, + 0.035785824650435276 + ], + [ + 0.00024366483557969332, + 0.9979530572891235, + 0.06395018100738525, + 0.02703144865348075 + ], + [ + -0.04903702437877655, + -0.06386132538318634, + 0.9967532753944397, + 0.028911140986581138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987545609474182, + -0.0012265584664419293, + 0.04987794905900955, + 0.03282684400148198 + ], + [ + -0.0018405677983537316, + 0.9981115460395813, + 0.06140023469924927, + 0.025460021295301085 + ], + [ + -0.04985906928777695, + -0.06141556799411774, + 0.9968661665916443, + 0.026422650210067705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987435936927795, + 0.00047380232717841864, + 0.05010953173041344, + 0.02924273131122141 + ], + [ + -0.0035050222650170326, + 0.9981667995452881, + 0.06042134016752243, + 0.026196685422514448 + ], + [ + -0.049989040940999985, + -0.060521066188812256, + 0.9969143867492676, + 0.026779804174518827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987945556640625, + 0.001814193674363196, + 0.04905247688293457, + 0.028113978083817485 + ], + [ + -0.0048292758874595165, + 0.9981004595756531, + 0.06141803786158562, + 0.025803029228966247 + ], + [ + -0.048847876489162445, + -0.06158089265227318, + 0.996906042098999, + 0.027163650031168447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9988046884536743, + 0.0032535437494516373, + 0.04877057671546936, + 0.02476343956449764 + ], + [ + -0.006276278756558895, + 0.9980592727661133, + 0.061954315751791, + 0.027267514158342845 + ], + [ + -0.04847435653209686, + -0.062186356633901596, + 0.9968867301940918, + 0.026363563170741657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988561272621155, + 0.004107040353119373, + 0.04764018580317497, + 0.02400289925505516 + ], + [ + -0.0071962205693125725, + 0.9978687763214111, + 0.0648549497127533, + 0.02980187054118378 + ], + [ + -0.04727229103446007, + -0.06512358784675598, + 0.9967568516731262, + 0.02876965920180839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9988937377929688, + 0.005255955271422863, + 0.0467301681637764, + 0.022434275095270673 + ], + [ + -0.008446416817605495, + 0.9976262450218201, + 0.06834115833044052, + 0.032160926933121406 + ], + [ + -0.0462600439786911, + -0.06866025179624557, + 0.9965670108795166, + 0.03149417902763725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989221096038818, + 0.005936690606176853, + 0.04603713005781174, + 0.019470793286782834 + ], + [ + -0.00924789346754551, + 0.9973582625389099, + 0.07204875349998474, + 0.03420489754168515 + ], + [ + -0.04548777639865875, + -0.07239684462547302, + 0.9963380694389343, + 0.03317680690948128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989140033721924, + 0.007462691981345415, + 0.045990101993083954, + 0.017983980084944347 + ], + [ + -0.010953927412629128, + 0.9970373511314392, + 0.0761348307132721, + 0.035403574230669414 + ], + [ + -0.045285679399967194, + -0.07655592262744904, + 0.9960363507270813, + 0.03393822035132931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9988612532615662, + 0.00990203209221363, + 0.046670664101839066, + 0.017015023490882047 + ], + [ + -0.013567062094807625, + 0.9967918395996094, + 0.07887927442789078, + 0.034417982737954496 + ], + [ + -0.04573987051844597, + -0.07942263036966324, + 0.9957910776138306, + 0.037259218429550905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99880450963974, + 0.011700073257088661, + 0.047462623566389084, + 0.014244751570873945 + ], + [ + -0.015462882816791534, + 0.9966986775398254, + 0.07970375567674637, + 0.03628817596638263 + ], + [ + -0.0463733933866024, + -0.0803423747420311, + 0.9956880211830139, + 0.037165979399974576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9987748265266418, + 0.012463359162211418, + 0.04789106175303459, + 0.014063592259370282 + ], + [ + -0.016387490555644035, + 0.9964612722396851, + 0.08244039863348007, + 0.03802899431607445 + ], + [ + -0.04669410362839699, + -0.08312421292066574, + 0.995444655418396, + 0.03882023802566044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987128973007202, + 0.013348923064768314, + 0.04893220216035843, + 0.014521527939197146 + ], + [ + -0.017491793259978294, + 0.9962068796157837, + 0.08524017781019211, + 0.03947170748644825 + ], + [ + -0.04760873317718506, + -0.08598638325929642, + 0.9951581358909607, + 0.04179353984403731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9986624121665955, + 0.013736934401094913, + 0.04984647035598755, + 0.011906038650647186 + ], + [ + -0.01804281771183014, + 0.9960459470748901, + 0.0869884341955185, + 0.0398455802294506 + ], + [ + -0.048454418778419495, + -0.0877714455127716, + 0.9949615001678467, + 0.043082534177654286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986154437065125, + 0.014458203688263893, + 0.05057767406105995, + 0.012369353995483535 + ], + [ + -0.018862614408135414, + 0.9959666728973389, + 0.08771874755620956, + 0.03987387275124716 + ], + [ + -0.04910542443394661, + -0.08855132013559341, + 0.9948604702949524, + 0.042967716156301766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9984866976737976, + 0.016280818730592728, + 0.0525280199944973, + 0.012440309367204076 + ], + [ + -0.020899560302495956, + 0.9958467483520508, + 0.08861427009105682, + 0.03966988209389188 + ], + [ + -0.050867144018411636, + -0.08957798779010773, + 0.9946799874305725, + 0.04383899763150869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9983574151992798, + 0.016797784715890884, + 0.05477486923336983, + 0.011269029749434459 + ], + [ + -0.02165716141462326, + 0.9957634210586548, + 0.08936525881290436, + 0.039948796843968064 + ], + [ + -0.053041670471429825, + -0.09040473401546478, + 0.9944916367530823, + 0.04678912017362069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9983072876930237, + 0.017202328890562057, + 0.05555754899978638, + 0.01048749699659154 + ], + [ + -0.02207798883318901, + 0.995842695236206, + 0.08837330341339111, + 0.03816885663773203 + ], + [ + -0.0538063570857048, + -0.08945031464099884, + 0.994536817073822, + 0.048883236052118584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9982689619064331, + 0.01807335577905178, + 0.05596812814474106, + 0.010366987878560715 + ], + [ + -0.0228529404848814, + 0.9960354566574097, + 0.08597174286842346, + 0.03941171915000919 + ], + [ + -0.0541924387216568, + -0.08710195124149323, + 0.9947242736816406, + 0.049014319853885525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981667399406433, + 0.019459951668977737, + 0.05731002986431122, + 0.010112662761836186 + ], + [ + -0.024370979517698288, + 0.995972752571106, + 0.0862802043557167, + 0.04036901444953105 + ], + [ + -0.05540022253990173, + -0.08751872926950455, + 0.9946211576461792, + 0.049816306548070184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9980052709579468, + 0.021589621901512146, + 0.05932440981268883, + 0.00979069715866885 + ], + [ + -0.02675546333193779, + 0.9957865476608276, + 0.08771157264709473, + 0.04069416415003048 + ], + [ + -0.05718078836798668, + -0.08912386000156403, + 0.994377851486206, + 0.0527421031222882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9979471564292908, + 0.021743293851614, + 0.06023907661437988, + 0.007698969040916957 + ], + [ + -0.027015775442123413, + 0.9957414865493774, + 0.08814241737127304, + 0.040672488521954736 + ], + [ + -0.05806604027748108, + -0.08958887308835983, + 0.9942847490310669, + 0.05310615027692112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9980100393295288, + 0.02041045017540455, + 0.05966081842780113, + 0.007773269492622255 + ], + [ + -0.025670664384961128, + 0.9957207441329956, + 0.08877638727426529, + 0.04191830431011879 + ], + [ + -0.05759355053305626, + -0.0901312604546547, + 0.994263231754303, + 0.05510507496972072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9980134963989258, + 0.01971515640616417, + 0.05983641371130943, + 0.008781869393693006 + ], + [ + -0.025060653686523438, + 0.9956316351890564, + 0.08994253724813461, + 0.04195877362780159 + ], + [ + -0.05780179426074028, + -0.09126340597867966, + 0.9941478371620178, + 0.05527747276092544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9978712201118469, + 0.019655371084809303, + 0.06218316778540611, + 0.009698564848545844 + ], + [ + -0.025267483666539192, + 0.995549201965332, + 0.09079315513372421, + 0.04067300070493203 + ], + [ + -0.06012183055281639, + -0.0921710804104805, + 0.993926465511322, + 0.055838217958807945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9976305961608887, + 0.021257629618048668, + 0.06543126702308655, + 0.00828049153013883 + ], + [ + -0.02711663208901882, + 0.9955724477767944, + 0.09000087529420853, + 0.03901549791208076 + ], + [ + -0.06322836875915527, + -0.09156190603971481, + 0.9937900304794312, + 0.05315579588189343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9974362850189209, + 0.021378599107265472, + 0.06829202175140381, + 0.008020462048462199 + ], + [ + -0.027377285063266754, + 0.9957311749458313, + 0.08814734220504761, + 0.037755648481664315 + ], + [ + -0.06611602008342743, + -0.08979101479053497, + 0.9937636852264404, + 0.05026620747852446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9972904920578003, + 0.020573873072862625, + 0.07062876224517822, + 0.007511307062760826 + ], + [ + -0.026673641055822372, + 0.9958914518356323, + 0.08653732389211655, + 0.037400109574274365 + ], + [ + -0.06855817139148712, + -0.08818677812814713, + 0.9937418699264526, + 0.04833191712268718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971303343772888, + 0.020956799387931824, + 0.07274581491947174, + 0.007078272264999182 + ], + [ + -0.027173124253749847, + 0.9959638118743896, + 0.08554351329803467, + 0.03444583681861156 + ], + [ + -0.07065948843955994, + -0.08727476000785828, + 0.993675172328949, + 0.0450823763186859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9968905448913574, + 0.023815175518393517, + 0.0751139223575592, + 0.00899273032313071 + ], + [ + -0.029987169429659843, + 0.9961694478988647, + 0.08214157074689865, + 0.034505761923448085 + ], + [ + -0.07286997139453888, + -0.08413860946893692, + 0.9937860369682312, + 0.04710125127041401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967538714408875, + 0.025153659284114838, + 0.07647872716188431, + 0.008968713981699822 + ], + [ + -0.03122136741876602, + 0.9963691234588623, + 0.07920750975608826, + 0.03233252826529711 + ], + [ + -0.07420868426561356, + -0.08133816719055176, + 0.993920087814331, + 0.04625492283535488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9966123104095459, + 0.0265057235956192, + 0.07785500586032867, + 0.008409288196545562 + ], + [ + -0.03244857117533684, + 0.9965730309486389, + 0.07608702778816223, + 0.030822009634850593 + ], + [ + -0.0755714625120163, + -0.07835555076599121, + 0.9940569996833801, + 0.04522844178951936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9964890480041504, + 0.028057759627699852, + 0.07888159900903702, + 0.010289544118615577 + ], + [ + -0.03379174321889877, + 0.9968087077140808, + 0.07232209295034409, + 0.030150331573816122 + ], + [ + -0.07660066336393356, + -0.07473372668027878, + 0.9942570924758911, + 0.045318328407663984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9962804913520813, + 0.02970007061958313, + 0.08088938146829605, + 0.00978239858664837 + ], + [ + -0.03532283008098602, + 0.9969916939735413, + 0.06899203360080719, + 0.027412083189045717 + ], + [ + -0.07859697192907333, + -0.07159265875816345, + 0.9943324327468872, + 0.0430330236324199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9961999654769897, + 0.02947203256189823, + 0.08195782452821732, + 0.011001974192972715 + ], + [ + -0.03492790088057518, + 0.9972112774848938, + 0.0659526064991951, + 0.02495788841456326 + ], + [ + -0.07978550344705582, + -0.06856460124254227, + 0.9944511651992798, + 0.04444234538350614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9961673021316528, + 0.0289619117975235, + 0.08253411948680878, + 0.012020780036443378 + ], + [ + -0.034084856510162354, + 0.9975339770317078, + 0.06135318800806999, + 0.023672291273393 + ], + [ + -0.08055368065834045, + -0.06393120437860489, + 0.9946978688240051, + 0.04263060856894188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9960740208625793, + 0.02928817830979824, + 0.08353908360004425, + 0.012737080328128664 + ], + [ + -0.0341862328350544, + 0.99774169921875, + 0.0578170120716095, + 0.021849378803508537 + ], + [ + -0.08165706694126129, + -0.060445912182331085, + 0.9948258399963379, + 0.04106030451691695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9959733486175537, + 0.028648825362324715, + 0.08494894206523895, + 0.014115942746098273 + ], + [ + -0.03342486545443535, + 0.9979077577590942, + 0.05534372478723526, + 0.019107615240485536 + ], + [ + -0.08318567276000977, + -0.057960279285907745, + 0.9948471188545227, + 0.0405883230231135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9958370327949524, + 0.028994139283895493, + 0.08641733974218369, + 0.014213961921632288 + ], + [ + -0.033536579459905624, + 0.9981054067611694, + 0.05158412456512451, + 0.018325761947686297 + ], + [ + -0.0847579762339592, + -0.0542675256729126, + 0.9949226975440979, + 0.0387040210745964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9956902861595154, + 0.02976296655833721, + 0.08783514052629471, + 0.014248781813885354 + ], + [ + -0.0341152660548687, + 0.9982417225837708, + 0.04847266152501106, + 0.015922491802706332 + ], + [ + -0.08623801916837692, + -0.05126027390360832, + 0.9949549436569214, + 0.035969752440143964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9956062436103821, + 0.029855545610189438, + 0.0887514054775238, + 0.014840465371832631 + ], + [ + -0.034102197736501694, + 0.9983255863189697, + 0.0467238649725914, + 0.013557722302257711 + ], + [ + -0.08720782399177551, + -0.04954519122838974, + 0.9949573278427124, + 0.0372013337305052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9954649806022644, + 0.03220756724476814, + 0.08951066434383392, + 0.018133528978767133 + ], + [ + -0.03627077862620354, + 0.9983665347099304, + 0.04414372146129608, + 0.012148713294019554 + ], + [ + -0.0879426896572113, + -0.04719015210866928, + 0.9950070977210999, + 0.03516468626593575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9953296184539795, + 0.034036070108413696, + 0.09033574163913727, + 0.01842699408398818 + ], + [ + -0.03782054781913757, + 0.9984627962112427, + 0.04051734507083893, + 0.010424190601759453 + ], + [ + -0.08881781995296478, + -0.043744660913944244, + 0.9950868487358093, + 0.03374274385913374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9953240156173706, + 0.033874526619911194, + 0.09045770019292831, + 0.019205988226883908 + ], + [ + -0.03737848252058029, + 0.9986038208007812, + 0.037326548248529434, + 0.00807337279001317 + ], + [ + -0.0890669897198677, + -0.04053318127989769, + 0.9952005743980408, + 0.0338910610429224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953312277793884, + 0.03420041874051094, + 0.0902554914355278, + 0.019648365978964695 + ], + [ + -0.0372883640229702, + 0.9987676739692688, + 0.032751452177762985, + 0.005793395201642501 + ], + [ + -0.08902416378259659, + -0.03596402332186699, + 0.9953799843788147, + 0.033110027461487626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9953392744064331, + 0.035295262932777405, + 0.08974377810955048, + 0.019332374166224506 + ], + [ + -0.03805409371852875, + 0.9988484382629395, + 0.029217800125479698, + 0.0053014687092284565 + ], + [ + -0.08860918879508972, + -0.03249674290418625, + 0.995536208152771, + 0.030862684256685567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954030513763428, + 0.034617528319358826, + 0.0892997458577156, + 0.02107026429213394 + ], + [ + -0.03721103072166443, + 0.9989277720451355, + 0.027542725205421448, + 0.003836323977518959 + ], + [ + -0.0882505401968956, + -0.03073904663324356, + 0.9956238865852356, + 0.032365202831889164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9954538345336914, + 0.03444400802254677, + 0.08879920095205307, + 0.020337212139617672 + ], + [ + -0.036750104278326035, + 0.9990249276161194, + 0.02446657419204712, + 0.0015536876430801176 + ], + [ + -0.08786989003419876, + -0.02761872485280037, + 0.9957489967346191, + 0.030204843139739205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9955585598945618, + 0.034292735159397125, + 0.08767672628164291, + 0.02006830697037696 + ], + [ + -0.036219216883182526, + 0.9991340637207031, + 0.020476464182138443, + -0.0005867629200881962 + ], + [ + -0.08689861744642258, + -0.023561101406812668, + 0.9959384799003601, + 0.029598003262795772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9957088828086853, + 0.03298948332667351, + 0.0864613950252533, + 0.019419858846718888 + ], + [ + -0.03461334481835365, + 0.9992501735687256, + 0.017349565401673317, + -0.002595437146359251 + ], + [ + -0.08582420647144318, + -0.02026783488690853, + 0.9961041212081909, + 0.02835687482493178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9958001375198364, + 0.03162645176053047, + 0.0859178975224495, + 0.02159163804280425 + ], + [ + -0.0328885056078434, + 0.9993703365325928, + 0.013313143514096737, + -0.0063044401495552 + ], + [ + -0.08544275909662247, + -0.016082940623164177, + 0.9962132573127747, + 0.029372414269574404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9957821369171143, + 0.032811298966407776, + 0.08568175882101059, + 0.02310523847259846 + ], + [ + -0.03362336754798889, + 0.9994021654129028, + 0.008051474578678608, + -0.007834692748953697 + ], + [ + -0.08536636084318161, + -0.010898423381149769, + 0.9962900280952454, + 0.027163777044657524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9957713484764099, + 0.03281818702816963, + 0.08580467849969864, + 0.022460502875864805 + ], + [ + -0.03326142206788063, + 0.9994396567344666, + 0.003740690415725112, + -0.009061494705073421 + ], + [ + -0.08563383668661118, + -0.0065788570791482925, + 0.9963049292564392, + 0.024987895440707352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9958227872848511, + 0.03119460865855217, + 0.08581310510635376, + 0.021893961196245273 + ], + [ + -0.0313754640519619, + 0.9995073676109314, + 0.0007593187037855387, + -0.012772887653014079 + ], + [ + -0.08574715256690979, + -0.0034485727082937956, + 0.9963109493255615, + 0.02385305946286257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9959506988525391, + 0.030520513653755188, + 0.08456162363290787, + 0.022322840520610968 + ], + [ + -0.030287954956293106, + 0.9995330572128296, + -0.004031985066831112, + -0.016040611118645534 + ], + [ + -0.08464520424604416, + 0.001454459852539003, + 0.996410071849823, + 0.021328046331702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9960903525352478, + 0.029034584760665894, + 0.0834326446056366, + 0.023590076715699612 + ], + [ + -0.02844833955168724, + 0.9995615482330322, + -0.008207076229155064, + -0.01798187289481538 + ], + [ + -0.08363436162471771, + 0.005801469087600708, + 0.9964796304702759, + 0.021148872069144613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9962165951728821, + 0.02697955071926117, + 0.08261130750179291, + 0.026208162212243237 + ], + [ + -0.026127737015485764, + 0.9995939135551453, + -0.011375069618225098, + -0.01832687506253647 + ], + [ + -0.08288465440273285, + 0.009173586964607239, + 0.9965169429779053, + 0.021442554891109467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.996253252029419, + 0.027084777131676674, + 0.08213336765766144, + 0.028076995902595478 + ], + [ + -0.0258935634046793, + 0.9995440244674683, + -0.01553425844758749, + -0.020753316134970806 + ], + [ + -0.08251665532588959, + 0.013349329121410847, + 0.9965002536773682, + 0.023233943598978412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9963018894195557, + 0.026613444089889526, + 0.08169650286436081, + 0.026916550950804342 + ], + [ + -0.025219567120075226, + 0.9995190501213074, + -0.01804656907916069, + -0.023038319617434203 + ], + [ + -0.08213748782873154, + 0.015919480472803116, + 0.9964938759803772, + 0.019869254909569235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9963902235031128, + 0.026100825518369675, + 0.08077925443649292, + 0.0283277204052219 + ], + [ + -0.024629149585962296, + 0.9995129704475403, + -0.019161760807037354, + -0.02365827258808661 + ], + [ + -0.08124005794525146, + 0.01710306480526924, + 0.9965478181838989, + 0.020283977070889497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9964505434036255, + 0.02578306756913662, + 0.08013483881950378, + 0.029004655165720712 + ], + [ + -0.02419254370033741, + 0.999491810798645, + -0.02075616642832756, + -0.025051045399821045 + ], + [ + -0.08062927424907684, + 0.01874382793903351, + 0.9965679049491882, + 0.018642835572437587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9965424537658691, + 0.025895871222019196, + 0.07894629240036011, + 0.02891383055540813 + ], + [ + -0.024291858077049255, + 0.9994798898696899, + -0.0212110448628664, + -0.025273477643501335 + ], + [ + -0.07945451140403748, + 0.019219955429434776, + 0.9966531991958618, + 0.018039493077448784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9966980814933777, + 0.023864854127168655, + 0.07761052995920181, + 0.029243941110591906 + ], + [ + -0.0223209448158741, + 0.9995365142822266, + -0.020700177177786827, + -0.023870140586407657 + ], + [ + -0.0780685618519783, + 0.01889948733150959, + 0.9967688322067261, + 0.019419543984048257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9967296123504639, + 0.02323959767818451, + 0.0773949846625328, + 0.028463822032140595 + ], + [ + -0.02173294499516487, + 0.9995586276054382, + -0.020252877846360207, + -0.02577228035191594 + ], + [ + -0.07783149927854538, + 0.01850462146103382, + 0.9967947602272034, + 0.01671700293793896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9967686533927917, + 0.023217719048261642, + 0.07689719647169113, + 0.028478008709129338 + ], + [ + -0.021681468933820724, + 0.9995495080947876, + -0.020753048360347748, + -0.024064507288149167 + ], + [ + -0.0773443952202797, + 0.019018743187189102, + 0.9968230128288269, + 0.017033173196811968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9968999028205872, + 0.02243761345744133, + 0.07541295140981674, + 0.029524843747429738 + ], + [ + -0.021075304597616196, + 0.999600887298584, + -0.018812257796525955, + -0.023286821328217 + ], + [ + -0.07580495625734329, + 0.01716458797454834, + 0.9969749450683594, + 0.018975028611227945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9969289898872375, + 0.022413242608308792, + 0.07503506541252136, + 0.029962256339941234 + ], + [ + -0.02114493027329445, + 0.9996204972267151, + -0.017655009403824806, + -0.021218553758439073 + ], + [ + -0.07540230453014374, + 0.016014179214835167, + 0.9970245957374573, + 0.017331188508701807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969267845153809, + 0.02253517508506775, + 0.07502783834934235, + 0.028646187635545196 + ], + [ + -0.02149679884314537, + 0.9996620416641235, + -0.014618913643062115, + -0.01796709433916559 + ], + [ + -0.0753319263458252, + 0.012961127795279026, + 0.9970742464065552, + 0.01415122469631851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9969761371612549, + 0.022060871124267578, + 0.07451128959655762, + 0.029769361375589963 + ], + [ + -0.021482523530721664, + 0.9997326135635376, + -0.008554521016776562, + -0.01604061100802143 + ], + [ + -0.07468008995056152, + 0.006927962880581617, + 0.9971835017204285, + 0.01746803562577606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9969653487205505, + 0.022115934640169144, + 0.07463893294334412, + 0.03236522025376709 + ], + [ + -0.021984219551086426, + 0.9997549653053284, + -0.0025859102606773376, + -0.010941898629901373 + ], + [ + -0.07467783987522125, + 0.0009371842606924474, + 0.9972072839736938, + 0.020704555027375973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.996839702129364, + 0.02410866506397724, + 0.07569240778684616, + 0.027699326387214174 + ], + [ + -0.024477588012814522, + 0.9996925592422485, + 0.0039498996920883656, + -0.005483548438204878 + ], + [ + -0.07557391375303268, + -0.005790183786302805, + 0.9971234202384949, + 0.0133970949723182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9968488812446594, + 0.024137703701853752, + 0.07556239515542984, + 0.03463685477180832 + ], + [ + -0.025186708196997643, + 0.9995987415313721, + 0.012960477732121944, + -0.0043697029401827125 + ], + [ + -0.07521923631429672, + -0.014822806231677532, + 0.9970568418502808, + 0.02064925891720704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9966873526573181, + 0.025960268452763557, + 0.0770738273859024, + 0.027752923730968826 + ], + [ + -0.027554409578442574, + 0.9994263052940369, + 0.01969221793115139, + -0.0009154324416546292 + ], + [ + -0.07651840150356293, + -0.021750709041953087, + 0.9968308806419373, + 0.013601300422915347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9967551827430725, + 0.025459034368395805, + 0.07636071741580963, + 0.03540367749023256 + ], + [ + -0.027621792629361153, + 0.9992427825927734, + 0.02740163542330265, + 0.00295044019827761 + ], + [ + -0.07560527324676514, + -0.029421942308545113, + 0.9967036843299866, + 0.02085178400470218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.996599018573761, + 0.025878814980387688, + 0.07823496311903, + 0.03165290242789058 + ], + [ + -0.028533587232232094, + 0.9990476965904236, + 0.03300795331597328, + 0.007387193080586225 + ], + [ + -0.07730624824762344, + -0.03512801602482796, + 0.9963883757591248, + 0.01882179331053332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9965723156929016, + 0.02588685043156147, + 0.07857141643762589, + 0.03711854097561031 + ], + [ + -0.029064809903502464, + 0.9987937808036804, + 0.03957622870802879, + 0.010044694962310911 + ], + [ + -0.07745213061571121, + -0.04172423854470253, + 0.9961225986480713, + 0.023956805424112354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9963809251785278, + 0.026806434616446495, + 0.08066282421350479, + 0.03627893378022056 + ], + [ + -0.030514350160956383, + 0.9985166788101196, + 0.045091938227415085, + 0.014231434943825763 + ], + [ + -0.07933441549539566, + -0.04739012196660042, + 0.9957209825515747, + 0.02475696376661964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9961894750595093, + 0.02799300104379654, + 0.08260084688663483, + 0.03757988135448567 + ], + [ + -0.03224903345108032, + 0.9981957077980042, + 0.05064906179904938, + 0.01569168624765982 + ], + [ + -0.08103398978710175, + -0.05311986058950424, + 0.9952948093414307, + 0.02610478033382578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9960274696350098, + 0.028134189546108246, + 0.08448544144630432, + 0.038583795818013286 + ], + [ + -0.03285837918519974, + 0.9979423880577087, + 0.05505738779902458, + 0.01844227176708013 + ], + [ + -0.08276261389255524, + -0.05761472508311272, + 0.9949024319648743, + 0.025906962583664105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9959198832511902, + 0.027814405038952827, + 0.08584871888160706, + 0.03933692419532743 + ], + [ + -0.032950565218925476, + 0.9977138638496399, + 0.05900266394019127, + 0.022207949877844243 + ], + [ + -0.08401133120059967, + -0.06159069016575813, + 0.9945595264434814, + 0.0263371103098096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9957360029220581, + 0.02767891250550747, + 0.08799806982278824, + 0.040556684075878355 + ], + [ + -0.03335185348987579, + 0.9974139332771301, + 0.0636640265583992, + 0.024663767044616834 + ], + [ + -0.08600834757089615, + -0.06632746011018753, + 0.9940841197967529, + 0.02579733319958757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9955121874809265, + 0.02700994163751602, + 0.09069698303937912, + 0.04154366301798124 + ], + [ + -0.03341358155012131, + 0.9969980716705322, + 0.06984542310237885, + 0.027420781685162317 + ], + [ + -0.08853819221258163, + -0.07256248593330383, + 0.9934262037277222, + 0.027930718804071396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9952455759048462, + 0.026810679584741592, + 0.0936347097158432, + 0.04312162243567294 + ], + [ + -0.033934202045202255, + 0.9965807795524597, + 0.07533378154039383, + 0.029290371250153192 + ], + [ + -0.09129481017589569, + -0.07815303653478622, + 0.9927524328231812, + 0.029654640265678996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9949187636375427, + 0.027714267373085022, + 0.09679163992404938, + 0.04526282144039112 + ], + [ + -0.03544945269823074, + 0.9962335228919983, + 0.07913332432508469, + 0.032413472586930704 + ], + [ + -0.09423395991325378, + -0.08216243237257004, + 0.9921538829803467, + 0.03091889093370002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9947032332420349, + 0.027193766087293625, + 0.0991261750459671, + 0.04687158462738022 + ], + [ + -0.03561285510659218, + 0.9958140850067139, + 0.08417846262454987, + 0.037445738977814086 + ], + [ + -0.09642212092876434, + -0.08726274967193604, + 0.9915079474449158, + 0.030534673690190778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944984316825867, + 0.02712221071124077, + 0.10117924213409424, + 0.04959310870617628 + ], + [ + -0.036352310329675674, + 0.9952303171157837, + 0.09052719175815582, + 0.03814736699997471 + ], + [ + -0.09824134409427643, + -0.09370724856853485, + 0.990740954875946, + 0.03289843738305992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9941511750221252, + 0.027919720858335495, + 0.10432600975036621, + 0.04838781430939127 + ], + [ + -0.03791414573788643, + 0.9947473406791687, + 0.09508007019758224, + 0.04106290219209824 + ], + [ + -0.10112340748310089, + -0.09847939759492874, + 0.9899877905845642, + 0.03234833865450119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9939959645271301, + 0.027158521115779877, + 0.1059926301240921, + 0.05014743074197984 + ], + [ + -0.037888914346694946, + 0.9942077398300171, + 0.10057507455348969, + 0.046168468676999135 + ], + [ + -0.10264723002910614, + -0.10398715734481812, + 0.9892675280570984, + 0.034275538580217944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9937424063682556, + 0.026672732084989548, + 0.10846468061208725, + 0.05110740007378804 + ], + [ + -0.0384061224758625, + 0.9934553503990173, + 0.10757073014974594, + 0.048818075254105676 + ], + [ + -0.10488561540842056, + -0.11106330901384354, + 0.9882630705833435, + 0.03516817943471942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9935159087181091, + 0.02546197921037674, + 0.11080513149499893, + 0.05369820162715381 + ], + [ + -0.0380755290389061, + 0.9928362965583801, + 0.11325351148843765, + 0.052655310195109564 + ], + [ + -0.10712770372629166, + -0.11673813313245773, + 0.9873681664466858, + 0.03826662236210053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9933950901031494, + 0.023214906454086304, + 0.11237127333879471, + 0.055109505790881426 + ], + [ + -0.03666532039642334, + 0.9921987056732178, + 0.11915279179811478, + 0.05443382425432278 + ], + [ + -0.10872850567102432, + -0.1224859282374382, + 0.9864965081214905, + 0.03851413960157312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9932559132575989, + 0.022171933203935623, + 0.11380264163017273, + 0.05661729633117326 + ], + [ + -0.03641579672694206, + 0.9915316700935364, + 0.12465469539165497, + 0.05903661405752758 + ], + [ + -0.11007508635520935, + -0.12795822322368622, + 0.9856521487236023, + 0.03929181963886101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9930173754692078, + 0.021658262237906456, + 0.11596281081438065, + 0.057693084913570676 + ], + [ + -0.03683234006166458, + 0.9907827973365784, + 0.13035663962364197, + 0.062446242514146766 + ], + [ + -0.11207065731287003, + -0.1337175965309143, + 0.9846622347831726, + 0.0405573903455347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.992793083190918, + 0.020187081769108772, + 0.1181287169456482, + 0.05922382780029273 + ], + [ + -0.036276452243328094, + 0.9900879859924316, + 0.13568270206451416, + 0.0650006004245148 + ], + [ + -0.11421878635883331, + -0.1389901340007782, + 0.9836848378181458, + 0.0427294558679997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9925592541694641, + 0.018668320029973984, + 0.12032291293144226, + 0.06046180627757901 + ], + [ + -0.035657498985528946, + 0.9894194602966309, + 0.14063309133052826, + 0.06718292750115624 + ], + [ + -0.11642444133758545, + -0.14387710392475128, + 0.9827231168746948, + 0.04276974319579638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.992338240146637, + 0.01795203424990177, + 0.1222395971417427, + 0.06302505918887212 + ], + [ + -0.03576011210680008, + 0.9887720942497253, + 0.1450893133878708, + 0.06885059584064532 + ], + [ + -0.11826246231794357, + -0.14834897220134735, + 0.9818383455276489, + 0.04517883779433778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9920952320098877, + 0.017921917140483856, + 0.12420095503330231, + 0.06535675084870782 + ], + [ + -0.03636752441525459, + 0.9883360266685486, + 0.14788271486759186, + 0.07081408284150707 + ], + [ + -0.1201019436120987, + -0.1512306183576584, + 0.9811752438545227, + 0.04681983644965337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9918342232704163, + 0.018184423446655273, + 0.12623071670532227, + 0.06609710269007207 + ], + [ + -0.037267837673425674, + 0.987905740737915, + 0.1505102962255478, + 0.07275525143530769 + ], + [ + -0.12196710705757141, + -0.15398560464382172, + 0.9805164337158203, + 0.048021205246145955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9916687607765198, + 0.017681635916233063, + 0.12759460508823395, + 0.06762074911777818 + ], + [ + -0.03741060197353363, + 0.987373411655426, + 0.15392930805683136, + 0.07369036963445887 + ], + [ + -0.12326179444789886, + -0.1574202924966812, + 0.9798088669776917, + 0.047923114729411714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9915090799331665, + 0.017329789698123932, + 0.12887755036354065, + 0.06888560734235392 + ], + [ + -0.03769753873348236, + 0.9868267178535461, + 0.15732726454734802, + 0.0755843316313579 + ], + [ + -0.12445336580276489, + -0.16084977984428406, + 0.9791009426116943, + 0.04994293094286459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9913569688796997, + 0.01738814078271389, + 0.1300344616174698, + 0.06957138471097359 + ], + [ + -0.038247257471084595, + 0.986426830291748, + 0.15968506038188934, + 0.07704647713657563 + ], + [ + -0.1254928559064865, + -0.16327835619449615, + 0.9785661697387695, + 0.05138871990484635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9912344217300415, + 0.017331233248114586, + 0.13097308576107025, + 0.0704944547426504 + ], + [ + -0.03861444443464279, + 0.9860745072364807, + 0.16175906360149384, + 0.07825931348473893 + ], + [ + -0.12634573876857758, + -0.16539861261844635, + 0.9781002402305603, + 0.05251447982745727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9912169575691223, + 0.01708274334669113, + 0.13113762438297272, + 0.07091306389266919 + ], + [ + -0.038695380091667175, + 0.9856875538825989, + 0.1640816032886505, + 0.07983341938650547 + ], + [ + -0.12645776569843292, + -0.1677148938179016, + 0.9776912331581116, + 0.05305556084223205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9911544322967529, + 0.01655621826648712, + 0.13167689740657806, + 0.07064091711669102 + ], + [ + -0.03861827775835991, + 0.9852325916290283, + 0.16680943965911865, + 0.08059800563729959 + ], + [ + -0.12697063386440277, + -0.17041903734207153, + 0.9771569967269897, + 0.05324412761303374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9911249876022339, + 0.015703529119491577, + 0.13200253248214722, + 0.0704804304679903 + ], + [ + -0.038233328610658646, + 0.9847151041030884, + 0.169924795627594, + 0.08186139513355524 + ], + [ + -0.12731647491455078, + -0.1734636127948761, + 0.9765760898590088, + 0.054578668764097435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9911801218986511, + 0.01437648106366396, + 0.13173937797546387, + 0.07245816586416233 + ], + [ + -0.03711118921637535, + 0.9844347834587097, + 0.17178739607334137, + 0.08312236953734746 + ], + [ + -0.12721914052963257, + -0.17516125738620758, + 0.9762857556343079, + 0.056619244125591314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9912064671516418, + 0.014000827446579933, + 0.13158154487609863, + 0.07346207852272062 + ], + [ + -0.03692907840013504, + 0.9841464757919312, + 0.17347022891044617, + 0.08448386120841588 + ], + [ + -0.12706679105758667, + -0.17680400609970093, + 0.9760094285011292, + 0.056054063020321315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9911652207374573, + 0.013205836527049541, + 0.13197381794452667, + 0.07443112257660041 + ], + [ + -0.03656553849577904, + 0.9836771488189697, + 0.17618809640407562, + 0.08638969238488202 + ], + [ + -0.12749291956424713, + -0.17945720255374908, + 0.9754694700241089, + 0.05729178830905614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9910842776298523, + 0.012015672400593758, + 0.132693350315094, + 0.07580870517581549 + ], + [ + -0.035800665616989136, + 0.9833150506019592, + 0.17835325002670288, + 0.08780304616326608 + ], + [ + -0.1283363401889801, + -0.18151360750198364, + 0.9749782681465149, + 0.05752649711170778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9910192489624023, + 0.010822449810802937, + 0.13328050076961517, + 0.0751477860122314 + ], + [ + -0.035025499761104584, + 0.9829289317131042, + 0.1806209236383438, + 0.08786988920215423 + ], + [ + -0.12905050814151764, + -0.18366701900959015, + 0.9744805693626404, + 0.05751174457635976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9910439848899841, + 0.009596379473805428, + 0.13319075107574463, + 0.07586012471297066 + ], + [ + -0.034016355872154236, + 0.9826527833938599, + 0.18230843544006348, + 0.08904984087357061 + ], + [ + -0.1291307508945465, + -0.1852063238620758, + 0.9741785526275635, + 0.05969731654915108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9910458922386169, + 0.009170749224722385, + 0.13320618867874146, + 0.07665533578959363 + ], + [ + -0.03379058465361595, + 0.9823890328407288, + 0.18376609683036804, + 0.08991433813941055 + ], + [ + -0.12917503714561462, + -0.186621755361557, + 0.9739025235176086, + 0.059302085131255504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9909729957580566, + 0.009095856919884682, + 0.1337527483701706, + 0.07872793350538929 + ], + [ + -0.03401932120323181, + 0.9821003079414368, + 0.18526114523410797, + 0.09194126968002561 + ], + [ + -0.12967349588871002, + -0.18813897669315338, + 0.9735442996025085, + 0.06109087613179599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9908280968666077, + 0.008544500917196274, + 0.13485819101333618, + 0.08044639371694798 + ], + [ + -0.03397079557180405, + 0.9816979765892029, + 0.18739016354084015, + 0.09354903979349863 + ], + [ + -0.1307888627052307, + -0.19025267660617828, + 0.9729841947555542, + 0.06084413124522582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9908046722412109, + 0.007679123431444168, + 0.13508211076259613, + 0.08233726528109178 + ], + [ + -0.03345006704330444, + 0.98129802942276, + 0.1895660161972046, + 0.09444928619310941 + ], + [ + -0.1311001032590866, + -0.1923413872718811, + 0.9725314974784851, + 0.06259678020543859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9908440113067627, + 0.006934552453458309, + 0.1348334550857544, + 0.08258860483387401 + ], + [ + -0.032660868018865585, + 0.9813290238380432, + 0.18954309821128845, + 0.09287038577843439 + ], + [ + -0.13100159168243408, + -0.19221141934394836, + 0.9725704789161682, + 0.062208320563517244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9908463358879089, + 0.006539287976920605, + 0.13483630120754242, + 0.08303653350676679 + ], + [ + -0.03221450373530388, + 0.9814231395721436, + 0.18913167715072632, + 0.09420865994457364 + ], + [ + -0.13109467923641205, + -0.1917441189289093, + 0.9726501703262329, + 0.06179438032172053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9908584952354431, + 0.005123643204569817, + 0.1348077803850174, + 0.08544278234848517 + ], + [ + -0.0309071633964777, + 0.9813215732574463, + 0.18987540900707245, + 0.09445682301701325 + ], + [ + -0.13131694495677948, + -0.19230620563030243, + 0.9725092053413391, + 0.06158418943585478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9907658696174622, + 0.005125099793076515, + 0.13548709452152252, + 0.08465492406642527 + ], + [ + -0.031098728999495506, + 0.981234073638916, + 0.19029591977596283, + 0.09438799535619274 + ], + [ + -0.13196925818920135, + -0.1927521675825119, + 0.9723325967788696, + 0.06194240397154377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9907563328742981, + 0.004568438045680523, + 0.13557645678520203, + 0.08548799570801142 + ], + [ + -0.030605163425207138, + 0.9811921715736389, + 0.1905916929244995, + 0.09585806197926477 + ], + [ + -0.1321558654308319, + -0.19297927618026733, + 0.9722622036933899, + 0.06332768972603803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9907658100128174, + 0.004126375541090965, + 0.13552142679691315, + 0.0862457315962251 + ], + [ + -0.030246267095208168, + 0.9810749292373657, + 0.19125156104564667, + 0.09706518689293396 + ], + [ + -0.1321675032377243, + -0.19358451664447784, + 0.9721403121948242, + 0.064546376080985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9907679557800293, + 0.003458593972027302, + 0.13552439212799072, + 0.08712979944299924 + ], + [ + -0.029708079993724823, + 0.9809154868125916, + 0.19215157628059387, + 0.09781689854140209 + ], + [ + -0.13227340579032898, + -0.19440379738807678, + 0.9719623923301697, + 0.0646561064166466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9907859563827515, + 0.0027966341003775597, + 0.1354081779718399, + 0.08808854733815956 + ], + [ + -0.02914566919207573, + 0.9807650446891785, + 0.19300371408462524, + 0.09878356941422532 + ], + [ + -0.13226385414600372, + -0.19517192244529724, + 0.9718097448348999, + 0.0654684295282146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.990822970867157, + 0.002343391068279743, + 0.1351456642150879, + 0.08799166806552768 + ], + [ + -0.028740622103214264, + 0.9806380867958069, + 0.1937084197998047, + 0.09902228700933118 + ], + [ + -0.13207504153251648, + -0.19581490755081177, + 0.9717060923576355, + 0.06520290696227611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9907891154289246, + 0.0023114392533898354, + 0.1353943645954132, + 0.0851541461545955 + ], + [ + -0.028837554156780243, + 0.9805205464363098, + 0.1942881941795349, + 0.09818807745418573 + ], + [ + -0.13230785727500916, + -0.19640305638313293, + 0.9715557098388672, + 0.06377546988465459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.990816593170166, + 0.001920768991112709, + 0.1351989358663559, + 0.08545951363985156 + ], + [ + -0.02849547378718853, + 0.9804085493087769, + 0.19490282237529755, + 0.09900121878132905 + ], + [ + -0.13217581808567047, + -0.19696550071239471, + 0.9714598059654236, + 0.06351270402597292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9909376502037048, + 0.001475609838962555, + 0.13431474566459656, + 0.08548881075708999 + ], + [ + -0.028083916753530502, + 0.9801160097122192, + 0.19642773270606995, + 0.09986087734134971 + ], + [ + -0.1313541829586029, + -0.1984197199344635, + 0.971275269985199, + 0.06329824366999157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9910551309585571, + 0.0017883405089378357, + 0.13344091176986694, + 0.08516184763065751 + ], + [ + -0.028347700834274292, + 0.9799123406410217, + 0.1974036544561386, + 0.0998503555501173 + ], + [ + -0.13040736317634583, + -0.19942064583301544, + 0.9711979031562805, + 0.06316237382326029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9911285638809204, + 0.0010229935869574547, + 0.13290289044380188, + 0.08585064996147368 + ], + [ + -0.027518395334482193, + 0.9798808693885803, + 0.1976771056652069, + 0.10094885676153723 + ], + [ + -0.13002678751945496, + -0.19958069920539856, + 0.9712160229682922, + 0.06487113207124817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9912921786308289, + 0.0012145908549427986, + 0.13167519867420197, + 0.0854820817671149 + ], + [ + -0.027598030865192413, + 0.9796656370162964, + 0.19873005151748657, + 0.10121118651731364 + ], + [ + -0.1287562996149063, + -0.20063352584838867, + 0.9711683988571167, + 0.06474034514675285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9914771914482117, + 0.0014516860246658325, + 0.13027232885360718, + 0.0850388759472951 + ], + [ + -0.02771482616662979, + 0.9794001579284668, + 0.20001819729804993, + 0.10204925138106201 + ], + [ + -0.12729838490486145, + -0.20192396640777588, + 0.9710931181907654, + 0.06666240417563976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9916444420814514, + 0.0012580687180161476, + 0.12899483740329742, + 0.08579361185544941 + ], + [ + -0.027341332286596298, + 0.9792844653129578, + 0.20063497126102448, + 0.10310324497785665 + ], + [ + -0.12607021629810333, + -0.20248545706272125, + 0.9711363911628723, + 0.06783222601498444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9917850494384766, + 0.0006964923813939095, + 0.12791387736797333, + 0.08510971187713183 + ], + [ + -0.02665434032678604, + 0.979159951210022, + 0.2013339102268219, + 0.10382269858028077 + ], + [ + -0.12510792911052704, + -0.2030894160270691, + 0.9711347222328186, + 0.0688792533453951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9919821619987488, + 0.0001684371381998062, + 0.12637807428836823, + 0.08519731967090652 + ], + [ + -0.025894982740283012, + 0.9790527820587158, + 0.20195318758487701, + 0.10386990031350385 + ], + [ + -0.12369678914546967, + -0.2036065012216568, + 0.9712072610855103, + 0.07007955813468411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9921100735664368, + -8.573848754167557e-05, + 0.12536966800689697, + 0.0839847598158693 + ], + [ + -0.025415901094675064, + 0.9790973663330078, + 0.20179776847362518, + 0.10405912262571947 + ], + [ + -0.1227664202451706, + -0.20339198410511017, + 0.9713702201843262, + 0.06964088575489025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9922490119934082, + -0.0008902549743652344, + 0.12426245957612991, + 0.08255364651021165 + ], + [ + -0.024441907182335854, + 0.9790422320365906, + 0.20218543708324432, + 0.10430629116100103 + ], + [ + -0.12183818966150284, + -0.20365549623966217, + 0.9714319109916687, + 0.0690018974131134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9924534559249878, + -0.001743982546031475, + 0.12260936200618744, + 0.081365861635901 + ], + [ + -0.023338396102190018, + 0.9789347052574158, + 0.20283539593219757, + 0.10484595536088882 + ], + [ + -0.12038029730319977, + -0.20416618883609772, + 0.9715064167976379, + 0.07070672039301867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.992675244808197, + -0.0019028065726161003, + 0.12079840898513794, + 0.08140174446280025 + ], + [ + -0.022864539176225662, + 0.9788472652435303, + 0.2033107876777649, + 0.1074395013453089 + ], + [ + -0.118630051612854, + -0.20458358526229858, + 0.9716339111328125, + 0.07261394392415352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9928132891654968, + -0.0014883894473314285, + 0.11966429650783539, + 0.08210751715702416 + ], + [ + -0.023132264614105225, + 0.9786781072616577, + 0.20409326255321503, + 0.10795329340974691 + ], + [ + -0.11741660535335541, + -0.20539461076259613, + 0.9716101884841919, + 0.07313426012920245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9929104447364807, + -0.0021666185930371284, + 0.11884522438049316, + 0.08049157181096402 + ], + [ + -0.02240823581814766, + 0.9784946441650391, + 0.20505155622959137, + 0.10964098826126399 + ], + [ + -0.11673368513584137, + -0.20626093447208405, + 0.9715089797973633, + 0.07490253456050369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9930619597434998, + -0.003201534040272236, + 0.11754892766475677, + 0.08029157422934446 + ], + [ + -0.02124651148915291, + 0.9782925248146057, + 0.20613664388656616, + 0.10955996569907907 + ], + [ + -0.11565719544887543, + -0.2072039544582367, + 0.9714370369911194, + 0.07469627209726323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9931002259254456, + -0.0031674355268478394, + 0.11722586303949356, + 0.0798565299304552 + ], + [ + -0.02136174775660038, + 0.9780237674713135, + 0.20739609003067017, + 0.11071632242558269 + ], + [ + -0.11530659347772598, + -0.2084692418575287, + 0.9712079763412476, + 0.0757898224338057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9930988550186157, + -0.003197810612618923, + 0.11723681539297104, + 0.07954580613747618 + ], + [ + -0.02155083790421486, + 0.9776309132575989, + 0.20922093093395233, + 0.11105883827404625 + ], + [ + -0.11528337746858597, + -0.21030361950397491, + 0.9708151817321777, + 0.0758076284856058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9931278228759766, + -0.004134785383939743, + 0.11696154624223709, + 0.07947061653958094 + ], + [ + -0.02066664583981037, + 0.9774749279022217, + 0.21003717184066772, + 0.11168080681396014 + ], + [ + -0.11519544571638107, + -0.21101096272468567, + 0.9706721305847168, + 0.076869180874171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.993220865726471, + -0.005117865279316902, + 0.1161298155784607, + 0.07863043719514978 + ], + [ + -0.019537538290023804, + 0.9774684309959412, + 0.2101755440235138, + 0.1119181146930317 + ], + [ + -0.11458887159824371, + -0.2110196352005005, + 0.9707420468330383, + 0.07742604095167314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9932770729064941, + -0.005576426163315773, + 0.11562687158584595, + 0.07812143463764322 + ], + [ + -0.01899547129869461, + 0.9774484038352966, + 0.2103181928396225, + 0.11200057411103079 + ], + [ + -0.11419212818145752, + -0.21110062301158905, + 0.9707711935043335, + 0.07615327332830671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9933966398239136, + -0.006762365810573101, + 0.11453128606081009, + 0.0776292479946869 + ], + [ + -0.017593685537576675, + 0.9774755239486694, + 0.21031419932842255, + 0.11153500318565042 + ], + [ + -0.11337374895811081, + -0.2109404355287552, + 0.9709019064903259, + 0.07761118349614482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.993525505065918, + -0.00651960214599967, + 0.1134219616651535, + 0.0775355763922488 + ], + [ + -0.017456820234656334, + 0.9777352213859558, + 0.20911508798599243, + 0.11251097623315559 + ], + [ + -0.11225999891757965, + -0.20974117517471313, + 0.9712910652160645, + 0.0780443357559025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9935451745986938, + -0.006887161172926426, + 0.11322803050279617, + 0.07721403124482196 + ], + [ + -0.01702355593442917, + 0.9777989983558655, + 0.20885229110717773, + 0.11322354458385918 + ], + [ + -0.11215265840291977, + -0.2094317376613617, + 0.9713702201843262, + 0.0779169275789394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9935640692710876, + -0.00781714916229248, + 0.11300171911716461, + 0.078027011750994 + ], + [ + -0.016110967844724655, + 0.9777206182479858, + 0.2092912346124649, + 0.11378165256931697 + ], + [ + -0.11212016642093658, + -0.20976482331752777, + 0.9713020920753479, + 0.0796427001732255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9936771392822266, + -0.008116687647998333, + 0.11198140680789948, + 0.07772746040358157 + ], + [ + -0.01562798023223877, + 0.9776750206947327, + 0.20954062044620514, + 0.11456418951907134 + ], + [ + -0.11118219792842865, + -0.209965780377388, + 0.9713665246963501, + 0.08111374162629172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9938322901725769, + -0.00841387826949358, + 0.1105738952755928, + 0.07647692650027081 + ], + [ + -0.015085325576364994, + 0.9775906205177307, + 0.20997373759746552, + 0.11495206937156051 + ], + [ + -0.10986269265413284, + -0.21034671366214752, + 0.9714342355728149, + 0.08038283736270091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9938884377479553, + -0.009039545431733131, + 0.11001862585544586, + 0.0780263112886303 + ], + [ + -0.014395318925380707, + 0.9775177240371704, + 0.21036125719547272, + 0.11520948007248985 + ], + [ + -0.10944673418998718, + -0.21065936982631683, + 0.9714134335517883, + 0.08212743337989459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9939542412757874, + -0.009881227277219296, + 0.1093498170375824, + 0.07814370189807592 + ], + [ + -0.013455060310661793, + 0.977473258972168, + 0.21062996983528137, + 0.11553433118908085 + ], + [ + -0.10896781086921692, + -0.21082785725593567, + 0.9714307188987732, + 0.08269201473233663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9940600395202637, + -0.01055297814309597, + 0.10832001268863678, + 0.07712701686804517 + ], + [ + -0.012594671919941902, + 0.9774461388587952, + 0.21080899238586426, + 0.11538931767593331 + ], + [ + -0.10810163617134094, + -0.210921049118042, + 0.9715072512626648, + 0.08377821433362623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9941659569740295, + -0.011207439936697483, + 0.10727748274803162, + 0.07700796080611381 + ], + [ + -0.011709650047123432, + 0.9774943590164185, + 0.21063640713691711, + 0.11520665353778656 + ], + [ + -0.10722382366657257, + -0.21066373586654663, + 0.9716603755950928, + 0.08394578398786826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9942320585250854, + -0.011726677417755127, + 0.10660737007856369, + 0.07687306880553815 + ], + [ + -0.01099095307290554, + 0.9776307940483093, + 0.21004101634025574, + 0.11560285374011636 + ], + [ + -0.10668573528528214, + -0.21000123023986816, + 0.9718629717826843, + 0.08400560949886511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.994301438331604, + -0.012010977603495121, + 0.10592658817768097, + 0.076556437686653 + ], + [ + -0.010554111562669277, + 0.9776605367660522, + 0.20992490649223328, + 0.11580837710954363 + ], + [ + -0.10608164966106415, + -0.2098465859889984, + 0.9719625115394592, + 0.08425840272516164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9943820834159851, + -0.012345938012003899, + 0.10512779653072357, + 0.07728513765531748 + ], + [ + -0.010037345811724663, + 0.9777014255523682, + 0.209759920835495, + 0.11636473516352135 + ], + [ + -0.10537327826023102, + -0.20963671803474426, + 0.9720848202705383, + 0.08466926838086947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9944327473640442, + -0.012247232720255852, + 0.10465928912162781, + 0.07717213110742986 + ], + [ + -0.010046789422631264, + 0.9776779413223267, + 0.2098686844110489, + 0.11707505366296937 + ], + [ + -0.10489338636398315, + -0.20975176990032196, + 0.9721119403839111, + 0.08469612779199774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9944872856140137, + -0.012898185290396214, + 0.10406111180782318, + 0.07748224623690401 + ], + [ + -0.009339452721178532, + 0.9775659441947937, + 0.21042248606681824, + 0.1176652227462208 + ], + [ + -0.10444065928459167, + -0.21023434400558472, + 0.9720563888549805, + 0.0850692931921954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9945532083511353, + -0.013181047514081001, + 0.10339351743459702, + 0.07746273257065242 + ], + [ + -0.00896170549094677, + 0.9774843454360962, + 0.21081748604774475, + 0.11821788959961554 + ], + [ + -0.10384433716535568, + -0.21059578657150269, + 0.9720420837402344, + 0.08610948106359104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9946356415748596, + -0.013672426342964172, + 0.10253287106752396, + 0.07722159083838087 + ], + [ + -0.008324051275849342, + 0.9774320125579834, + 0.21108610928058624, + 0.11856168670872898 + ], + [ + -0.10310497134923935, + -0.21080724895000458, + 0.9720749258995056, + 0.08772470263130774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9946986436843872, + -0.013846928253769875, + 0.10189635306596756, + 0.07878411465943767 + ], + [ + -0.008043302223086357, + 0.9773803353309631, + 0.21133612096309662, + 0.1176086931210484 + ], + [ + -0.10251785069704056, + -0.2110353261232376, + 0.972087562084198, + 0.08768688020518589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.994711697101593, + -0.013063739985227585, + 0.10187217593193054, + 0.07753433503664388 + ], + [ + -0.008757093921303749, + 0.97747802734375, + 0.21085543930530548, + 0.11795258381626177 + ], + [ + -0.10233236849308014, + -0.21063248813152313, + 0.9721944332122803, + 0.08775492806725091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9947658777236938, + -0.01373686920851469, + 0.10125270485877991, + 0.07624010492475504 + ], + [ + -0.007928040809929371, + 0.9775586128234863, + 0.21051429212093353, + 0.1175562979369826 + ], + [ + -0.1018722653388977, + -0.21021516621112823, + 0.9723330736160278, + 0.08671092732152358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9948804378509521, + -0.01406728196889162, + 0.1000751182436943, + 0.07674360227615096 + ], + [ + -0.007301895879209042, + 0.9776700735092163, + 0.21001896262168884, + 0.11731841753799525 + ], + [ + -0.10079484432935715, + -0.20967450737953186, + 0.9725620746612549, + 0.0871047665209032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.994996190071106, + -0.01416816096752882, + 0.09890306740999222, + 0.0768823052628845 + ], + [ + -0.006881208159029484, + 0.9778264760971069, + 0.20930372178554535, + 0.11710965923284214 + ], + [ + -0.0996754840016365, + -0.20893697440624237, + 0.9728361368179321, + 0.08742710246047393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9950928092002869, + -0.014464478939771652, + 0.09788306802511215, + 0.07752852429858016 + ], + [ + -0.006328927353024483, + 0.9779267907142639, + 0.20885197818279266, + 0.11770607631956109 + ], + [ + -0.09874341636896133, + -0.20844660699367523, + 0.9730363488197327, + 0.08851511824478958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9951462745666504, + -0.01461363397538662, + 0.09731565415859222, + 0.07692426617072923 + ], + [ + -0.006032449658960104, + 0.9779930710792542, + 0.20855024456977844, + 0.11685314626778065 + ], + [ + -0.09822170436382294, + -0.2081250548362732, + 0.9731580018997192, + 0.08850286216451432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9952027201652527, + -0.014795719645917416, + 0.0967087596654892, + 0.07642952276365406 + ], + [ + -0.005676138214766979, + 0.9781009554862976, + 0.20805372297763824, + 0.11681636037248268 + ], + [ + -0.09766922891139984, + -0.2076045721769333, + 0.9733247756958008, + 0.08809175723549073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9952600002288818, + -0.014934390783309937, + 0.0960959866642952, + 0.07642534314489303 + ], + [ + -0.0053841727785766125, + 0.9781606197357178, + 0.207780659198761, + 0.11675396559353407 + ], + [ + -0.0971003845334053, + -0.2073131799697876, + 0.9734437465667725, + 0.08858595302111001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9953304529190063, + -0.014724438078701496, + 0.09539640694856644, + 0.07637904178218793 + ], + [ + -0.005386338569223881, + 0.9782843589782715, + 0.20719729363918304, + 0.11663234003105669 + ], + [ + -0.09637568145990372, + -0.20674361288547516, + 0.9736369252204895, + 0.08868135600752637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9954019784927368, + -0.014322007074952126, + 0.09470893442630768, + 0.07696357385685601 + ], + [ + -0.005600992124527693, + 0.9783636927604675, + 0.20681650936603546, + 0.11656208006230179 + ], + [ + -0.09562180936336517, + -0.20639602839946747, + 0.9737849831581116, + 0.08870955689758214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9954175353050232, + -0.01461108960211277, + 0.09450123459100723, + 0.07728906543121726 + ], + [ + -0.005291881039738655, + 0.9783259630203247, + 0.20700302720069885, + 0.1166040350158278 + ], + [ + -0.09547755867242813, + -0.20655453205108643, + 0.97376549243927, + 0.08865038923881381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9954328536987305, + -0.014832819811999798, + 0.0943048819899559, + 0.07738075730991242 + ], + [ + -0.0050505949184298515, + 0.9782893061637878, + 0.20718246698379517, + 0.11653495701928127 + ], + [ + -0.09533055871725082, + -0.206712543964386, + 0.9737463593482971, + 0.0887308407555982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9954423904418945, + -0.01494571939110756, + 0.0941862016916275, + 0.07743742391467096 + ], + [ + -0.00492197135463357, + 0.9782745838165283, + 0.20725497603416443, + 0.11643948717974126 + ], + [ + -0.09523753821849823, + -0.20677396655082703, + 0.9737424254417419, + 0.08852969408035279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/orbit_right/transforms.json b/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fdd6c3a9271c499b29b216ad9ed67f8d407ecb7d --- /dev/null +++ b/dynpose_eval/camera_controls/fc18f35c-74c8-4a3b-a6cd-4bf5d90a7c8d/orbit_right/transforms.json @@ -0,0 +1,6943 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 198, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 4.7903893573675305e-05, + -1.3397059774433728e-05, + 3.661001755972393e-05 + ], + [ + -4.790362436324358e-05, + 1.0, + 2.0111605408601463e-05, + 8.499329851474613e-05 + ], + [ + 1.3398023838817608e-05, + -2.0110965124331415e-05, + 1.0, + -0.0001617062953300774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999988405835118, + -0.0014958454994484787, + 0.0002123039070970425, + 0.002151778159263691 + ], + [ + 0.0014931674838193636, + 0.9999256730079653, + 0.012098776948167564, + 0.00612141895818613 + ], + [ + -0.0002303860566785965, + -0.012098446488380436, + 0.999926802534287, + -0.0014941997379940136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999992470218906, + -0.0009253053576685488, + 0.0008321805228801142, + 0.0033976648145649276 + ], + [ + 0.0009020212852165502, + 0.9996197819709778, + 0.027557732796064913, + 0.014394160529228477 + ], + [ + -0.0008573632838806519, + -0.02755695953965187, + 0.999619869445466, + -0.002700408430982846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999998477012591, + -0.0015105502679944038, + 0.000883817978049423, + 0.006655573389315961 + ], + [ + 0.0014695585780209659, + 0.9990004897117615, + 0.04467449930619386, + 0.025066840805307765 + ], + [ + -0.00095041752956611, + -0.0446731336414814, + 0.9990011912698563, + -0.0007763549238815228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999938930601447, + -0.003278229618445039, + 0.0012166983722739265, + 0.009337138676762669 + ], + [ + 0.0031959887832879895, + 0.9980490207672119, + 0.06235302258882445, + 0.032360714300465096 + ], + [ + -0.0014187316495049432, + -0.062348753213882446, + 0.9980534374982982, + 0.0021435939726476127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999977880327571, + -0.006441405508667232, + 0.0016732807474875704, + 0.01469080508601095 + ], + [ + 0.006290873210749634, + 0.9969190359115603, + 0.07818500926145447, + 0.039659715029478806 + ], + [ + -0.0021717468226621706, + -0.0781727507710457, + 0.9969374737383359, + 0.0073660624765797145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999338166002446, + -0.010875514708459377, + 0.003755114390445824, + 0.019881446536465036 + ], + [ + 0.010494926859420974, + 0.9959133863449097, + 0.08970137840014938, + 0.04358984503775608 + ], + [ + -0.004715318022397839, + -0.08965602517127991, + 0.9959616039856581, + 0.010778212759889043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998551823493737, + -0.01598765514791012, + 0.005834312893503705, + 0.022661829463885917 + ], + [ + 0.01534002197836255, + 0.9950782060623171, + 0.09789803494598334, + 0.045125528789296765 + ], + [ + -0.007370757053996837, + -0.09779435396194461, + 0.9951793407558515, + 0.011056917661054577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999822668447615, + -0.01759539917111397, + 0.006710496719263599, + 0.02512181805800239 + ], + [ + 0.01680005656095497, + 0.9944045543670657, + 0.10429448672855675, + 0.04709081546350302 + ], + [ + -0.008508050706197723, + -0.10416325926780703, + 0.9945237912426176, + 0.014790537935815494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998134350047899, + -0.017702477052807808, + 0.007730608377644889, + 0.02960715763704983 + ], + [ + 0.016764333398010263, + 0.9940059185028076, + 0.10803315823581051, + 0.04896932887481058 + ], + [ + -0.009596723838412057, + -0.10788340121507645, + 0.9941172345095876, + 0.01618131411819036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997978965837007, + -0.017995506525039676, + 0.008962112108524165, + 0.033574856819597695 + ], + [ + 0.016895443745985703, + 0.9937286376953127, + 0.11053454250369206, + 0.0498350698274021 + ], + [ + -0.010895030523230017, + -0.11036078631877902, + 0.993831895300894, + 0.018986480946624824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997720522104895, + -0.019130190834403038, + 0.009478392641079397, + 0.035782837868834655 + ], + [ + 0.017963645518547854, + 0.9936848282814026, + 0.11076023763872764, + 0.048772044938538456 + ], + [ + -0.011537398712327443, + -0.11056473106145859, + 0.9938019471854754, + 0.021891068728012154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997483534935024, + -0.02018106542527676, + 0.009794236598671771, + 0.03772382119803673 + ], + [ + 0.019001452780910574, + 0.993924677371979, + 0.10840958573777444, + 0.046462112781635485 + ], + [ + -0.011922552320620897, + -0.10819620639085772, + 0.9940580927232247, + 0.02235900632835505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997665081023147, + -0.01977858506143093, + 0.008703736077392358, + 0.04276007970511045 + ], + [ + 0.018775077970753243, + 0.9944780468940735, + 0.10325174270340168, + 0.045082081774801226 + ], + [ + -0.010697846523939914, + -0.10306421667337418, + 0.9946171473183458, + 0.02530164642151539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997747056445339, + -0.01890501938760281, + 0.009650797269677184, + 0.04704888061333693 + ], + [ + 0.017857603201109285, + 0.9949262142181399, + 0.09900950477364863, + 0.04611051931197287 + ], + [ + -0.01147360900979497, + -0.09881485253572467, + 0.9950396645094501, + 0.025794182076046675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997916244137812, + -0.01621394976973534, + 0.012402345074507303, + 0.04993998768960457 + ], + [ + 0.014941577677696563, + 0.9952127337455752, + 0.09658367974221857, + 0.04516591421341518 + ], + [ + -0.013908970969076805, + -0.09637823700904849, + 0.9952475862938821, + 0.02730458307940594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997748278617246, + -0.014947544783353806, + 0.015061890234736915, + 0.05207826051773774 + ], + [ + 0.01349180456197679, + 0.9956207275390625, + 0.09250616882207612, + 0.04060820847413027 + ], + [ + -0.016378672648735226, + -0.09228213131427765, + 0.9955982030673015, + 0.030700533310960933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997428628411451, + -0.014726602472364906, + 0.017244974054242836, + 0.050348977028132354 + ], + [ + 0.013200439809198867, + 0.996251165866852, + 0.08549447305937327, + 0.03637203452078912 + ], + [ + -0.018439368767524823, + -0.0852448418736458, + 0.9961893803672044, + 0.029085229688597773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997577082635489, + -0.01355813629925251, + 0.01734034553788839, + 0.05411743553753367 + ], + [ + 0.012172288571543217, + 0.9969047904014587, + 0.07767040949567185, + 0.034208243423573835 + ], + [ + -0.018339742129393606, + -0.07744051516056061, + 0.9968282581475543, + 0.029196481173190857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997629012780447, + -0.010706854984164238, + 0.018961404283481656, + 0.05564757769777328 + ], + [ + 0.009336594259156809, + 0.9974372386932373, + 0.0709354420927131, + 0.03046512413335521 + ], + [ + -0.019672307778235046, + -0.07074158638715744, + 0.9973006902073083, + 0.03131889485236197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997721563990447, + -0.007146202493458988, + 0.020114291205922376, + 0.0542517528429904 + ], + [ + 0.005793054507079097, + 0.9977666139602663, + 0.06654509363613477, + 0.029417369984967242 + ], + [ + -0.020544914042037097, + -0.06641340255737306, + 0.9975806731941266, + 0.029330748896741202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997731083265191, + -0.0033787996508181095, + 0.02103168004750413, + 0.052873100580182956 + ], + [ + 0.0020280311084572003, + 0.9979530572891235, + 0.06391848021701209, + 0.02726785835933386 + ], + [ + -0.02120459964969776, + -0.06386132538318634, + 0.997733474793326, + 0.0317014260027776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997857856734669, + -0.0012265584664419296, + 0.02066072556547646, + 0.050730689191151195 + ], + [ + -4.491022311964517e-05, + 0.9981115460395815, + 0.06142779903280835, + 0.02566101921886845 + ], + [ + -0.020697056001169868, + -0.06141556799411775, + 0.9978976464338655, + 0.02933165561801796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998084746880488, + 0.00047380232717841864, + 0.019563871154923727, + 0.04796110557035828 + ], + [ + -0.0016568695855513908, + 0.9981667995452881, + 0.06050023398214422, + 0.026372062518377464 + ], + [ + -0.01949933840137219, + -0.060521066188812256, + 0.997976439864077, + 0.029818818953946055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998508185540832, + 0.001814193674363196, + 0.017177035519915423, + 0.04764279272776755 + ], + [ + -0.0028682640197821197, + 0.9981004595756531, + 0.06154080225246649, + 0.02596454653732328 + ], + [ + -0.017032761867516615, + -0.06158089265227318, + 0.9979567409633325, + 0.03035684108326965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998735260185317, + 0.0032535437494516373, + 0.01556620690693303, + 0.045104940067939074 + ], + [ + -0.004214868760107682, + 0.9980592727661133, + 0.06212860691048625, + 0.0274089163814589 + ], + [ + -0.015333859318653774, + -0.062186356633901596, + 0.9979467865756494, + 0.02969724852586468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999056878894725, + 0.004107040353119373, + 0.013105937536602377, + 0.045154054501879974 + ], + [ + -0.004951489811852055, + 0.9978687763214111, + 0.06506483567464903, + 0.029942690493099413 + ], + [ + -0.012810782518015476, + -0.06512358784675598, + 0.9977949562451423, + 0.03226130425626941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999271626877725, + 0.005255955271422863, + 0.010866339669096562, + 0.0443955051434608 + ], + [ + -0.00598934806216868, + 0.9976262450218201, + 0.06860017192976461, + 0.03229623073753912 + ], + [ + -0.010479985771768846, + -0.06866025179624557, + 0.9975850684229735, + 0.03514126521377582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999432904628038, + 0.005936690606176853, + 0.008843882509965472, + 0.04224268626588511 + ], + [ + -0.00656117174376065, + 0.9973582625389099, + 0.07234291561609547, + 0.03434507664683894 + ], + [ + -0.008391039237604961, + -0.07239684462547302, + 0.9973406022395308, + 0.03697529419252356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999442482113271, + 0.007462691981345415, + 0.00746833873619645, + 0.04156872954434893 + ], + [ + -0.008012360061374253, + 0.9970373511314392, + 0.07650034679494364, + 0.03552936933476094 + ], + [ + -0.006875313595063694, + -0.07655592262744904, + 0.9970415913046996, + 0.037875579392246596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999277073543615, + 0.009902032092213632, + 0.00682159952093711, + 0.04141529578764139 + ], + [ + -0.010412361273784655, + 0.9967918395996096, + 0.07935734270285934, + 0.03449915607586885 + ], + [ + -0.006013914681439711, + -0.07942263036966325, + 0.9968228723502299, + 0.041320090855879385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999118113584566, + 0.011700073257088663, + 0.006286383565820646, + 0.03946119457850254 + ], + [ + -0.012167147429322433, + 0.9966986775398257, + 0.0802729714002007, + 0.03632909586139934 + ], + [ + -0.005326430784466247, + -0.08034237474203111, + 0.9967531069811787, + 0.041345828764115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999078404785082, + 0.012463359162211418, + 0.005386877459403625, + 0.04009507450566809 + ], + [ + -0.012867888472560577, + 0.9964612722396851, + 0.08306254643228901, + 0.03806252818200934 + ], + [ + -0.004332576959397244, + -0.08312421292066574, + 0.9965297938805441, + 0.04312530054881412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998978909207119, + 0.013348923064768314, + 0.005100919071431433, + 0.04137078910788907 + ], + [ + -0.013737989536378517, + 0.9962068796157837, + 0.08592507426858206, + 0.03949289092738615 + ], + [ + -0.003934565656649713, + -0.08598638325929642, + 0.996288525527521, + 0.046207167166194635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998946490607784, + 0.013736934401094913, + 0.004687735164908407, + 0.039572906625141714 + ], + [ + -0.01409528529410912, + 0.9960459470748901, + 0.0877146161551657, + 0.03986258298011417 + ], + [ + -0.003464268147803161, + -0.0877714455127716, + 0.9961346376678238, + 0.047605570827475366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998870760468385, + 0.014458203688263893, + 0.004091537252125261, + 0.04085305464324111 + ], + [ + -0.014763659778667925, + 0.9959666728973389, + 0.08850091098446254, + 0.039872664884102224 + ], + [ + -0.0027954704244034343, + -0.08855132013559341, + 0.9960677102533935, + 0.047604802528258924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998563036730621, + 0.016280818730592728, + 0.004717024624651802, + 0.041746237788543174 + ], + [ + -0.016637823617500325, + 0.9958467483520508, + 0.0895123640056578, + 0.03961509810198135 + ], + [ + -0.0032400983121437625, + -0.08957798779010773, + 0.9959745205066249, + 0.04855631838167318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998429972093278, + 0.016797784715890884, + 0.005638768871664546, + 0.041399534577872064 + ], + [ + -0.017238627101848543, + 0.9957634210586548, + 0.09032171310864204, + 0.0398746987389398 + ], + [ + -0.00409767034804469, + -0.09040473401546478, + 0.9958967032157217, + 0.05157140836248107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998390522901714, + 0.017202328890562057, + 0.005094254347488951, + 0.041435948436098644 + ], + [ + -0.017588943376166434, + 0.995842695236206, + 0.08937509394693643, + 0.03807334396326772 + ], + [ + -0.0035356203809098047, + -0.08945031464099884, + 0.9959849918380725, + 0.05377164594316202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9998279350862458, + 0.01807335577905178, + 0.0041775465224970455, + 0.04213143685947246 + ], + [ + -0.01836847870902602, + 0.9960354566574097, + 0.08704020019827569, + 0.03927312738701593 + ], + [ + -0.0025878744160201224, + -0.08710195124149323, + 0.9961960168421047, + 0.05402049770529653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998018245004378, + 0.01945995166897774, + 0.004194278528674075, + 0.042697572488423874 + ], + [ + -0.01975229765492077, + 0.9959727525711062, + 0.0874532163140254, + 0.040180050180661495 + ], + [ + -0.0024755534387688933, + -0.08751872926950456, + 0.9961597781129633, + 0.054911186479024404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997549877337212, + 0.021589621901512146, + 0.004885791749087183, + 0.043199177614654964 + ], + [ + -0.021939055007398997, + 0.9957865476608276, + 0.0890384897654692, + 0.0404318103999415 + ], + [ + -0.0029428978524005094, + -0.08912386000156403, + 0.9960162114327948, + 0.05790377532025913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9997535994837728, + 0.021743293851614, + 0.004473666941169448, + 0.041926967369445144 + ], + [ + -0.022056581249489404, + 0.9957414865493774, + 0.08951226221236736, + 0.040398051649164365 + ], + [ + -0.0025083260891387658, + -0.08958887308835983, + 0.9959756701293001, + 0.05836306603249547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997884161017686, + 0.020410450175404552, + 0.002564154191911945, + 0.04281409926528863 + ], + [ + -0.020558482850409322, + 0.9957207441329958, + 0.09009760668477866, + 0.04168867811913277 + ], + [ + -0.0007142518215346971, + -0.09013126045465471, + 0.9959296566152904, + 0.06050337472128915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999804653729855, + 0.01971515640616417, + 0.0014105957479610947, + 0.04463906117801749 + ], + [ + -0.01976161369229251, + 0.9956316351890564, + 0.09125335607036346, + 0.041754320715123805 + ], + [ + 0.000394638670658294, + -0.09126340597867966, + 0.9958266986850667, + 0.06079304928090772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9998038801999135, + 0.019655371084809303, + 0.002432985929092105, + 0.046383797066063624 + ], + [ + -0.019795948880521493, + 0.995549201965332, + 0.09214099607609588, + 0.040463018395428 + ], + [ + -0.0006110967425368208, + -0.0921710804104805, + 0.9957429788422423, + 0.061393258108848596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997644914554318, + 0.021257629618048668, + 0.004361046369693274, + 0.04579787087164179 + ], + [ + -0.021567579362311285, + 0.9955724477767944, + 0.09148939178956916, + 0.038725970606650686 + ], + [ + -0.002396893651057871, + -0.09156190603971481, + 0.9957965184700527, + 0.05871799095360582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997540377976307, + 0.021378599107265472, + 0.005899730042443364, + 0.04636933011865673 + ], + [ + -0.021821817938126715, + 0.9957311749458313, + 0.08968432380926104, + 0.03743488268583994 + ], + [ + -0.003957212078994088, + -0.08979101479053497, + 0.9959527753157124, + 0.055839690135034314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997644554054823, + 0.020573873072862625, + 0.0069124028351098534, + 0.04668986714856953 + ], + [ + -0.021103032818288497, + 0.9958914518356323, + 0.08806164635898069, + 0.03708638099069329 + ], + [ + -0.0050722316198837, + -0.08818677812814713, + 0.9960910597811133, + 0.05392929940540696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997507004598584, + 0.020956799387931824, + 0.007706766746473591, + 0.047084668270382476 + ], + [ + -0.021549079816497223, + 0.9959638118743896, + 0.08713041092605381, + 0.0340974181860779 + ], + [ + -0.005849694970072425, + -0.08727476000785828, + 0.9961671006805355, + 0.05071279667242133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996780358750316, + 0.023815175518393517, + 0.00875696378684437, + 0.04982639764543982 + ], + [ + -0.02446698680868149, + 0.9961694478988647, + 0.08395138195214352, + 0.034007379318466494 + ], + [ + -0.006724096747959779, + -0.08413860946893692, + 0.9964313857596958, + 0.05275843370229858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996448603569721, + 0.025153659284114838, + 0.008799380807142945, + 0.05062547450174226 + ], + [ + -0.025785469244045227, + 0.9963691234588623, + 0.08114008233371962, + 0.03174755119426254 + ], + [ + -0.006726463682423874, + -0.08133816719055176, + 0.9966638472763072, + 0.051971389439583966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996094794938556, + 0.0265057235956192, + 0.008853683040836034, + 0.05088929197559022 + ], + [ + -0.027117359128893997, + 0.9965730309486389, + 0.0781459813607332, + 0.030146049628128238 + ], + [ + -0.006752032683930952, + -0.07835555076599121, + 0.9969025903368712, + 0.05100109729904334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995696525646882, + 0.028057759627699852, + 0.008557986103574831, + 0.053590615242562575 + ], + [ + -0.028618284115259022, + 0.9968087077140808, + 0.07452087528195381, + 0.029369467553011622 + ], + [ + -0.006439779947744778, + -0.07473372668027878, + 0.9971827098383886, + 0.0511598551470117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995160824066863, + 0.02970007061958313, + 0.00924718840828573, + 0.05391014466188555 + ], + [ + -0.030285139475599115, + 0.9969916939735413, + 0.07134713275422236, + 0.026518728129479176 + ], + [ + -0.007100356235888214, + -0.07159265875816345, + 0.9974086703804445, + 0.048898563939758506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995252020729363, + 0.02947203256189823, + 0.00899036366392316, + 0.05595349440565814 + ], + [ + -0.030018380222729707, + 0.9972112774848938, + 0.06832716453040172, + 0.024036586682527533 + ], + [ + -0.0069515507505001775, + -0.06856460124254227, + 0.9976224348262567, + 0.050364936426021044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9995465424646681, + 0.0289619117975235, + 0.008239184586239953, + 0.05779370800718976 + ], + [ + -0.02942881421278361, + 0.9975339770317078, + 0.06371762720081003, + 0.022727748887912475 + ], + [ + -0.006373481919579292, + -0.06393120437860489, + 0.9979339278924455, + 0.04862859213498703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995396476728551, + 0.02928817830979824, + 0.00791999091578611, + 0.059333003450923585 + ], + [ + -0.02971280346666167, + 0.99774169921875, + 0.06023831596660657, + 0.020848447825441423 + ], + [ + -0.006137829242923376, + -0.060445912182331085, + 0.998152621375135, + 0.047115953003924446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995574783142613, + 0.028648825362324715, + 0.008005089662279452, + 0.06153877456661837 + ], + [ + -0.0290640651539737, + 0.9979077577590942, + 0.05775317844671335, + 0.01809991278224839 + ], + [ + -0.006333777171198979, + -0.057960279285907745, + 0.9982988176455112, + 0.04667894848972963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995463514723751, + 0.028994139283895493, + 0.008151303713781439, + 0.0624629298315906 + ], + [ + -0.029393137067310893, + 0.9981054067611694, + 0.05405245195514372, + 0.017257005068623103 + ], + [ + -0.0065686549645124605, + -0.0542675256729126, + 0.9985048529655017, + 0.044825641838612845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999522950774855, + 0.02976296655833722, + 0.008247953565500087, + 0.063323144342391 + ], + [ + -0.030145959496989772, + 0.998241722583771, + 0.05103598161413785, + 0.0147753380699495 + ], + [ + -0.006714477665015443, + -0.051260273903608336, + 0.9986627316802802, + 0.042123872560609454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9995234580635369, + 0.029855545610189438, + 0.007839711150313443, + 0.0647382683497716 + ], + [ + -0.030206694800088463, + 0.9983255863189697, + 0.04933188662204928, + 0.012373640653922345 + ], + [ + -0.006353745331491182, + -0.04954519122838974, + 0.9987516802056224, + 0.043410355126515886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9994546975073455, + 0.03220756724476814, + 0.007279716151169599, + 0.06885041006425538 + ], + [ + -0.032514680741527316, + 0.9983665347099304, + 0.04697907047696994, + 0.010809157787524115 + ], + [ + -0.005754744728846094, + -0.04719015210866928, + 0.998869322830878, + 0.04143929734800526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993975981646851, + 0.034036070108413696, + 0.00678501082504889, + 0.0699640050740197 + ], + [ + -0.034299816198502045, + 0.9984627962112427, + 0.043538163692076914, + 0.00894480086142784 + ], + [ + -0.005292707540880143, + -0.043744660913944244, + 0.9990287427872371, + 0.040074979644215046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.999410510158223, + 0.033874526619911194, + 0.0055788685377972476, + 0.0715621079808973 + ], + [ + -0.034072514590163666, + 0.9986038208007812, + 0.04036689125006044, + 0.006557988063190849 + ], + [ + -0.004203671291053836, + -0.04053318127989769, + 0.9991693755753456, + 0.040312211253453946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9994067816688599, + 0.03420041874051094, + 0.0040486394486809706, + 0.07282065465542059 + ], + [ + -0.034323765056839685, + 0.9987676739692688, + 0.03584632287396722, + 0.004207618347377316 + ], + [ + -0.002817696388223099, + -0.03596402332186699, + 0.9993491259946266, + 0.03963576937951746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993744706551302, + 0.03529526293277741, + 0.0022100425515446135, + 0.07331728462884894 + ], + [ + -0.03534842110944161, + 0.9988484382629397, + 0.032438912096132845, + 0.0036102128698393622 + ], + [ + -0.0010625637966732433, + -0.032496742904186256, + 0.999471260737546, + 0.03751268576970448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994005658124366, + 0.03461752831935883, + 0.0004339969684577454, + 0.0758714270840954 + ], + [ + -0.03461450641440718, + 0.9989277720451357, + 0.030742453786205434, + 0.002145568854950368 + ], + [ + 0.0006306893133348, + -0.030739046633243568, + 0.9995272300518502, + 0.039136350280991605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994056646558583, + 0.03444400802254677, + -0.001397222722110287, + 0.07595319947625863 + ], + [ + -0.03439218083343095, + 0.9990249276161194, + 0.02768323165173042, + -0.0001732148723736903 + ], + [ + 0.002349378452551344, + -0.02761872485280037, + 0.9996157574255767, + 0.037099391533614315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.999404428212964, + 0.034292735159397125, + -0.0038527106195787, + 0.07649460573240581 + ], + [ + -0.034192069858366564, + 0.9991340637207031, + 0.023706952900657507, + -0.0023571498039115465 + ], + [ + 0.00466233893318061, + -0.023561101406812668, + 0.999711502412577, + 0.03665023243787682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9994352052854059, + 0.03298948332667351, + -0.0064048864120933085, + 0.07665769853849917 + ], + [ + -0.03285206697084405, + 0.9992501735687256, + 0.020489820762621788, + -0.004338716530412345 + ], + [ + 0.0070760340513518925, + -0.02026783488690853, + 0.9997695456686503, + 0.03557394814433415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9994654547544025, + 0.03162645176053048, + -0.008282738181236282, + 0.07964571007652567 + ], + [ + -0.03148792944646086, + 0.999370336532593, + 0.01635248881726528, + -0.00802346428683011 + ], + [ + 0.008794684901825518, + -0.01608294062316418, + 0.9998319722059552, + 0.03671576268695124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994130867440033, + 0.032811298966407776, + -0.009844289852490685, + 0.08197298788349147 + ], + [ + -0.03270035545410993, + 0.9994021654129028, + 0.011226924838669014, + -0.009686110172430517 + ], + [ + 0.010206767605209346, + -0.010898423381149769, + 0.9998885225567331, + 0.03461594354768923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994002901255521, + 0.03281818702816964, + -0.011049045023298754, + 0.08214677704078562 + ], + [ + -0.032742705099061804, + 0.9994396567344668, + 0.006944798453509406, + -0.01097175513161169 + ], + [ + 0.011270766102383778, + -0.006578857079148294, + 0.9999148143106058, + 0.032528010989936434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9994367418367236, + 0.03119460865855217, + -0.01237383330089576, + 0.08240103214310034 + ], + [ + -0.031149319547976544, + 0.9995073676109314, + 0.003836170104142737, + -0.014634963582656245 + ], + [ + 0.01248739613388556, + -0.0034485727082937956, + 0.9999160699064348, + 0.03148978113047648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994221635811342, + 0.030520513653755188, + -0.014960002643692582, + 0.08363907392691601 + ], + [ + -0.030538840269196954, + 0.9995330572128296, + -0.0009981753483551254, + -0.01792424968863299 + ], + [ + 0.014922546689183995, + 0.001454459852539003, + 0.9998875734230991, + 0.02913588111520528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994265105506129, + 0.0290345847606659, + -0.017425458625541904, + 0.08571757567951255 + ], + [ + -0.029130861597699828, + 0.9995615482330324, + -0.005296888337025084, + -0.019832795977158615 + ], + [ + 0.017264019339634343, + 0.005801469087600709, + 0.9998341432571668, + 0.029123660312068467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999444154154672, + 0.02697955071926117, + -0.0195835479690989, + 0.08915002612608464 + ], + [ + -0.027153019372292114, + 0.9995939135551453, + -0.008646640349741726, + -0.0201002899473378 + ], + [ + 0.0193423112077283, + 0.009173586964607239, + 0.9997708530331505, + 0.029569310683681235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9994042535884033, + 0.027084777131676674, + -0.021390889915753265, + 0.0918321436729543 + ], + [ + -0.02736192527993114, + 0.9995440244674683, + -0.012771642661930984, + -0.022591149773212506 + ], + [ + 0.021035217086763307, + 0.013349329121410847, + 0.9996895886360644, + 0.03148915727788462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993775333956765, + 0.026613444089889526, + -0.023158566130407333, + 0.09148620063501005 + ], + [ + -0.02697186047033506, + 0.9995190501213074, + -0.015304377283041445, + -0.024891118045405343 + ], + [ + 0.022740128002147517, + 0.015919480472803116, + 0.9996146749381265, + 0.02825436625874953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993363769507643, + 0.026100825518369675, + -0.025408092073565633, + 0.09370771236224128 + ], + [ + -0.026523428909060155, + 0.9995129704475403, + -0.016440067075892715, + -0.025511876318147927 + ], + [ + 0.02496661334113709, + 0.01710306480526924, + 0.9995419796888529, + 0.028833855260172684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992924664838033, + 0.025783067569136627, + -0.027383284513099987, + 0.09519680759867646 + ], + [ + -0.02628247036146627, + 0.9994918107986452, + -0.018036889066349968, + -0.026921646205266606 + ], + [ + 0.026904319668822452, + 0.018743827939033512, + 0.9994622687344957, + 0.027339753586238854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9992172962922894, + 0.025895871222019196, + -0.029902742880713054, + 0.09591238866997044 + ], + [ + -0.026454613325466534, + 0.9994798898696899, + -0.01844332472224254, + -0.027180189316224526 + ], + [ + 0.029409582751989703, + 0.019219955429434776, + 0.999382657089943, + 0.02692265073182279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9991843195516563, + 0.023864854127168655, + -0.03257538296354617, + 0.09705079205347188 + ], + [ + -0.024463928719201018, + 0.9995365142822266, + -0.018117342638668484, + -0.025660889843661622 + ], + [ + 0.03212792261813806, + 0.01889948733150959, + 0.9993050594271199, + 0.028505431755971544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9991474700041575, + 0.02323959767818451, + -0.034120916920723665, + 0.09708662657272332 + ], + [ + -0.02385381533057663, + 0.9995586276054382, + -0.017705802817076594, + -0.027538286821660058 + ], + [ + 0.033694376627060665, + 0.01850462146103382, + 0.9992608394608826, + 0.025928789776843618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9990839254147323, + 0.023217719048261642, + -0.035947700755055954, + 0.09791310821565948 + ], + [ + -0.023882554798527893, + 0.9995495080947876, + -0.018176872329157122, + -0.025855363730914925 + ], + [ + 0.03550947939377971, + 0.019018743187189102, + 0.9991883462342389, + 0.02638841882091192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9989964019396117, + 0.02243761345744133, + -0.038764911914582374, + 0.09976384841049167 + ], + [ + -0.02308315302365984, + 0.999600887298584, + -0.01628611536774677, + -0.02502785068186318 + ], + [ + 0.03838402219262796, + 0.01716458797454834, + 0.99911565863395, + 0.02854932859057493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9989293040287555, + 0.022413242608308792, + -0.04047119310911825, + 0.10101434731156785 + ], + [ + -0.023040436908611663, + 0.9996204972267151, + -0.015097870723115627, + -0.022967296813307357 + ], + [ + 0.040117434804780354, + 0.016014179214835167, + 0.9990666361452478, + 0.027045806031921964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9988716049836154, + 0.02253517508506775, + -0.041805585380523404, + 0.1005147028461131 + ], + [ + -0.023055695511648034, + 0.9996620416641235, + -0.012010824329750919, + -0.01971468878170973 + ], + [ + 0.04152078020693074, + 0.012961127795279026, + 0.9990535404997976, + 0.023983253168786925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9988032217017376, + 0.022060871124267578, + -0.043651742972633495, + 0.10245015363954381 + ], + [ + -0.022341867120230726, + 0.9997326135635376, + -0.005959833945374229, + -0.01771368546321239 + ], + [ + 0.043508590781971335, + 0.006927962880581617, + 0.9990290558670486, + 0.02746024330283639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.998748848483499, + 0.022115934640169144, + -0.04485102577750976, + 0.10586385486581204 + ], + [ + -0.022135711852854303, + 0.9997549653053284, + 5.569482967556898e-05, + -0.012577260538868795 + ], + [ + 0.04484126422811136, + 0.0009371842606924474, + 0.9989936976783413, + 0.03080956817486937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9986907229923784, + 0.02410866506397725, + -0.04511731537769341, + 0.10202197620256187 + ], + [ + -0.023822308469055618, + 0.9996925592422488, + 0.006873982958067468, + -0.007217129658299707 + ], + [ + 0.04526917122647013, + -0.005790183786302806, + 0.9989580740774527, + 0.023547327272892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9986231379527617, + 0.024137703701853752, + -0.04657462770365681, + 0.10977484894469483 + ], + [ + -0.02341807366781361, + 0.9995987415313721, + 0.015935434682944543, + -0.006031545816051673 + ], + [ + 0.046940587293762125, + -0.014822806231677532, + 0.9987876954872235, + 0.030936278960137897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9985863887769412, + 0.025960268452763557, + -0.046381871074730886, + 0.10371983710958232 + ], + [ + -0.024916654187935414, + 0.9994263052940369, + 0.022938815975184268, + -0.0026645731196532864 + ], + [ + 0.046950753973219156, + -0.021750709041953087, + 0.9986603512062482, + 0.023899095594944752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9985023204052974, + 0.025459034368395812, + -0.04842488652201694, + 0.11218098540582207 + ], + [ + -0.023992452236959547, + 0.9992427825927737, + 0.03062964719986569, + 0.0013027305914778712 + ], + [ + 0.04916802760538635, + -0.02942194230854512, + 0.9983570988183956, + 0.03132743849497326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9985181566124712, + 0.025878814980387688, + -0.04787279176789426, + 0.10926582699306883 + ], + [ + -0.0241503540716979, + 0.9990476965904236, + 0.03633801013622643, + 0.005744243626109225 + ], + [ + 0.04876759248736019, + -0.03512801602482796, + 0.9981922526693027, + 0.029273435832575117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9984699768963682, + 0.02588685043156147, + -0.048862594313985354, + 0.11555196374744256 + ], + [ + -0.023793255487344546, + 0.9987937808036804, + 0.04295255576552909, + 0.008452401896009374 + ], + [ + 0.04991556553703966, + -0.04172423854470253, + 0.9978815061876921, + 0.03450276166606619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9984832072790086, + 0.026806434616446495, + -0.04809078967475998, + 0.11554949347265747 + ], + [ + -0.024464624849618036, + 0.9985166788101196, + 0.04864042135732305, + 0.012601741676915816 + ], + [ + 0.04932334133923493, + -0.04739012196660042, + 0.997657973743809, + 0.03525884041936404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9984802734047924, + 0.02799300104379654, + -0.047471188601307404, + 0.11768538817687427 + ], + [ + -0.025398267317372956, + 0.9981957077980042, + 0.05440823133431269, + 0.014002337489903252 + ], + [ + 0.04890858867683869, + -0.05311986058950424, + 0.9973897006468688, + 0.036573422567982405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.998502930880022, + 0.028134189546108246, + -0.04690849718231762, + 0.11952604668039216 + ], + [ + -0.025351713845789277, + 0.9979423880577087, + 0.05889210166916923, + 0.01676253755602576 + ], + [ + 0.04846884790537407, + -0.05761472508311272, + 0.9971616068474936, + 0.03633774278354194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.998513710638227, + 0.027814405038952834, + -0.046869884319856524, + 0.12111168004131767 + ], + [ + -0.02484204308978464, + 0.9977138638496401, + 0.06284844465387424, + 0.020572056333096896 + ], + [ + 0.04851082083416292, + -0.06159069016575815, + 0.996921890456607, + 0.036766650751853404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9985559404302242, + 0.02767891250550747, + -0.0460421723992681, + 0.12317176311263311 + ], + [ + -0.02453239830836524, + 0.9974139332771301, + 0.06755453975920803, + 0.02306027134522155 + ], + [ + 0.04779294461209658, + -0.06632746011018753, + 0.9966526513932856, + 0.03616025688622185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9986368303970836, + 0.02700994163751603, + -0.04466474146316524, + 0.1250059240098387 + ], + [ + -0.02366843256385348, + 0.9969980716705324, + 0.07372011842317704, + 0.025905388895186517 + ], + [ + 0.04652183778258526, + -0.07256248593330385, + 0.9962782504614245, + 0.03817660632201772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.998713335571482, + 0.026810679584741592, + -0.04304519222193772, + 0.12743233903115755 + ], + [ + -0.023337291501042946, + 0.9965807795524597, + 0.07925957062093977, + 0.027814668182729305 + ], + [ + 0.04502300918645415, + -0.07815303653478622, + 0.9959242259756482, + 0.0397600718398952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9987664815539223, + 0.027714267373085022, + -0.04120052331757399, + 0.13042147569112938 + ], + [ + -0.024209282107001125, + 0.9962335228919983, + 0.08326258088245148, + 0.030864745982328627 + ], + [ + 0.043352898719734405, + -0.08216243237257004, + 0.9956755962091813, + 0.04086523777434741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9988221111316349, + 0.027193766087293625, + -0.040185956700642504, + 0.13287322583565014 + ], + [ + -0.02355871983373099, + 0.9958140850067139, + 0.08831350824461476, + 0.03595991538016125 + ], + [ + 0.042419310981314066, + -0.08726274967193604, + 0.9952817878905963, + 0.04037970014072799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9988533050660025, + 0.02712221071124077, + -0.03945180118420125, + 0.13643395325901506 + ], + [ + -0.023282097643153126, + 0.9952303171157837, + 0.09473440158283392, + 0.036700601541255255 + ], + [ + 0.04183304394914236, + -0.09370724856853485, + 0.994720562666672, + 0.0426677002849667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.998902192625254, + 0.027919720858335495, + -0.037614952834817174, + 0.13607619516482314 + ], + [ + -0.024057033982638566, + 0.9947473406791687, + 0.09949352396899525, + 0.03955202221993501 + ], + [ + 0.040195210025926284, + -0.09847939759492874, + 0.9943269654084977, + 0.04194721248165234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9989360888189285, + 0.027158521115779877, + -0.03727070688870955, + 0.1386729481581806 + ], + [ + -0.023113857718334855, + 0.9942077398300171, + 0.1049603021774793, + 0.044748313283089085 + ], + [ + 0.039905390537437434, + -0.10398715734481812, + 0.9937777697789907, + 0.04381799016667324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9989916080340625, + 0.026672732084989548, + -0.036115429284052855, + 0.14047692303028617 + ], + [ + -0.02247633886743757, + 0.9934553503990173, + 0.11198797444233255, + 0.047471211524112635 + ], + [ + 0.03886608311911254, + -0.11106330901384354, + 0.9930530280812803, + 0.04458335280423719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9990595645951238, + 0.02546197921037674, + -0.03509450715703938, + 0.14391207235656303 + ], + [ + -0.021172660224517907, + 0.9928362965583801, + 0.11759176091491859, + 0.05143352883780369 + ], + [ + 0.037837218429872956, + -0.11673813313245773, + 0.992441729231217, + 0.047552316926234746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.999122724468365, + 0.023214906454086307, + -0.03485526593985872, + 0.14616275953576116 + ], + [ + -0.018754418376456368, + 0.992198705673218, + 0.12324773955094717, + 0.053440392145118816 + ], + [ + 0.037444540329400394, + -0.12248592823743823, + 0.9917636587821053, + 0.0477242637081305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9991501434079314, + 0.022171933203935627, + -0.034746818431370674, + 0.14850601159287588 + ], + [ + -0.01752796474371952, + 0.9915316700935366, + 0.1286766248639868, + 0.05816334589694822 + ], + [ + 0.037305588570773776, + -0.12795822322368625, + 0.9910776841302348, + 0.048446973913585455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9991904048144208, + 0.021658262237906456, + -0.033903044148267864, + 0.1504227252085852 + ], + [ + -0.016915760661794472, + 0.9907827973365784, + 0.13439989512502995, + 0.0616386755126897 + ], + [ + 0.03650142014600559, + -0.1337175965309143, + 0.9903470074504468, + 0.04959314410160283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992496214168342, + 0.020187081769108772, + -0.033055920759641734, + 0.15279617814606733 + ], + [ + -0.015383811445184825, + 0.9900879859924316, + 0.13960342034602582, + 0.06434199548968404 + ], + [ + 0.035546457664914155, + -0.1389901340007782, + 0.9896556172012935, + 0.051628474945418446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9993077350528262, + 0.018668320029973984, + -0.032179606544220744, + 0.15487693283099022 + ], + [ + -0.013832923650333376, + 0.9894194602966309, + 0.14442220686019083, + 0.06667439776027163 + ], + [ + 0.03453525699594031, + -0.14387710392475128, + 0.9889927659012013, + 0.0515232043802902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9993399945279734, + 0.01795203424990177, + -0.031579697647858895, + 0.1582789744091531 + ], + [ + -0.013058144910042374, + 0.9887720942497253, + 0.14885959602512372, + 0.0684174574995711 + ], + [ + 0.033897451162502264, + -0.14834897220134735, + 0.9883539394096934, + 0.05381877629459916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9993608025187376, + 0.017921917140483856, + -0.030932393975280182, + 0.16144859090407213 + ], + [ + -0.013027810270863, + 0.9883360266685486, + 0.15173058474892268, + 0.0703764469041451 + ], + [ + 0.03329089674303976, + -0.1512306183576584, + 0.9879377774973634, + 0.05534733078956469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9993779987500022, + 0.018184423446655273, + -0.030214829220265284, + 0.16302683796824816 + ], + [ + -0.01330507118034418, + 0.987905740737915, + 0.1544837081236754, + 0.07228185675110554 + ], + [ + 0.0326586026676194, + -0.15398560464382172, + 0.987533223574064, + 0.056430704544737684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9993883562844667, + 0.017681635916233066, + -0.03016997962699168, + 0.16538412170439165 + ], + [ + -0.012702302993322876, + 0.9873734116554262, + 0.1579000839693978, + 0.07326963993940507 + ], + [ + 0.032580974520180675, + -0.15742029249668124, + 0.9869941063035481, + 0.05626510959420051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9993934526861773, + 0.017329789698123932, + -0.030206047500842333, + 0.16748170154986114 + ], + [ + -0.01223616537142155, + 0.9868267178535461, + 0.16131723049171426, + 0.07520283484188689 + ], + [ + 0.0326037244438366, + -0.16084977984428406, + 0.9864402127017814, + 0.05822505736875169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9993875111284215, + 0.01738814078271389, + -0.030367804580348184, + 0.16899848756578825 + ], + [ + -0.012186898903298148, + 0.986426830291748, + 0.163748742616082, + 0.07665752268395923 + ], + [ + 0.032802904362377025, + -0.16327835619449615, + 0.9860345708473741, + 0.059627270928606146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9993768448106582, + 0.01733123324811459, + -0.030749797927146254, + 0.1707510227067441 + ], + [ + -0.011996862986903766, + 0.9860745072364809, + 0.16587086921669433, + 0.07787479502435556 + ], + [ + 0.03319633842579463, + -0.16539861261844638, + 0.9856679607044037, + 0.06072740086712883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9993446422462905, + 0.01708274334669113, + -0.031912685800957435, + 0.1719931757541394 + ], + [ + -0.01147832781168316, + 0.9856875538825989, + 0.16819141764329185, + 0.07948713488738934 + ], + [ + 0.034329101321816546, + -0.1677148938179016, + 0.985237649860228, + 0.061315990671633645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9993281355704121, + 0.01655621826648712, + -0.03269849277084674, + 0.17254813418950196 + ], + [ + -0.010731263625560525, + 0.9852325916290283, + 0.17088475800202224, + 0.08031511935549089 + ], + [ + 0.0350448253561773, + -0.17041903734207153, + 0.9847482918655882, + 0.06150898720918739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9993086046169234, + 0.015703529119491577, + -0.033700480260765484, + 0.17321355313950937 + ], + [ + -0.00960937530590368, + 0.9847151041030884, + 0.1739076866960184, + 0.0816823762648836 + ], + [ + 0.03591632118689908, + -0.1734636127948761, + 0.9841851258484746, + 0.06286276924382479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9992734414157485, + 0.01437648106366396, + -0.03529712506017818, + 0.1760130189490125 + ], + [ + -0.007961382412617117, + 0.9844347834587097, + 0.17556983284377972, + 0.08309649792612758 + ], + [ + 0.03727178791729565, + -0.17516125738620758, + 0.9838340308187139, + 0.06497317716835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9992251106508525, + 0.014000827446579933, + -0.03678507469084578, + 0.17783802584645372 + ], + [ + -0.007265859637745564, + 0.9841464757919312, + 0.17720859017962556, + 0.08451339595808134 + ], + [ + 0.038682971061049586, + -0.17680400609970093, + 0.983485638767879, + 0.06448382558662281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9992010979416419, + 0.013205836527049541, + -0.03771934907451341, + 0.1796333562053769 + ], + [ + -0.006211970747833199, + 0.9836771488189697, + 0.1798351893801828, + 0.08651714652992926 + ], + [ + 0.03947853631006565, + -0.17945720255374908, + 0.982973334663228, + 0.06573199943029764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9991930802539782, + 0.012015672400593758, + -0.03832439113015851, + 0.18184046790023153 + ], + [ + -0.004849954434279779, + 0.9833150506019592, + 0.18184621908550222, + 0.0880593515459222 + ], + [ + 0.03986995147999795, + -0.18151360750198364, + 0.9825798830324494, + 0.0659339731500071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9991781397174295, + 0.010822449810802938, + -0.039062626770615894, + 0.1820078874610176 + ], + [ + -0.0034548427973114977, + 0.9829289317131045, + 0.1839531672756124, + 0.08826041204076339 + ], + [ + 0.04038660401346773, + -0.18366701900959018, + 0.9821585085581549, + 0.06589835586720601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9991341622154442, + 0.009596379473805428, + -0.04048310824013766, + 0.18354280572921733 + ], + [ + -0.0019241913679705338, + 0.9826527833938599, + 0.1854448046913266, + 0.08958818047980284 + ], + [ + 0.04156044601338464, + -0.1852063238620758, + 0.9818204176697959, + 0.068133122512197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9990840529710704, + 0.009170749224722385, + -0.04179598454698915, + 0.18516057744090877 + ], + [ + -0.0012010480383313473, + 0.9823890328407288, + 0.18684308774774358, + 0.0905140935521079 + ], + [ + 0.04277340104404272, + -0.186621755361557, + 0.9815002555774821, + 0.06779127161935807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990519670220019, + 0.009095856919884682, + -0.04257279891832617, + 0.18805994165613796 + ], + [ + -0.0009150456536770361, + 0.9821003079414368, + 0.18835649402139973, + 0.09255543555157876 + ], + [ + 0.04352402964454974, + -0.18813897669315338, + 0.9811775464552981, + 0.06958268766873213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.999047715907483, + 0.008544500917196274, + -0.04278680361670471, + 0.19061041496919373 + ], + [ + -0.00023984585972260423, + 0.9816979765892029, + 0.19044429846442687, + 0.09422241065541012 + ], + [ + 0.043630964044619705, + -0.19025267660617828, + 0.9807651649749696, + 0.06926631705648019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990068816911261, + 0.007679123431444168, + -0.043889925004086915, + 0.19332608526503564 + ], + [ + 0.0009138820122123189, + 0.98129802942276, + 0.1924924577788651, + 0.09523516276156925 + ], + [ + 0.04454726766874155, + -0.1923413872718811, + 0.9803164242251261, + 0.07103737353649389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9989416747667275, + 0.006934552453458311, + -0.045469173811320374, + 0.19439802822322558 + ], + [ + 0.0019419152268924731, + 0.9813290238380434, + 0.19232666831339712, + 0.09374807357190147 + ], + [ + 0.045953914752076226, + -0.19221141934394842, + 0.9802769971806515, + 0.07072315474404856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.998883168778226, + 0.006539287976920605, + -0.04679427953709851, + 0.19566840919648265 + ], + [ + 0.0025619974936911994, + 0.9814231395721436, + 0.19183847820914554, + 0.09513235212360925 + ], + [ + 0.04717947404410608, + -0.1917441189289093, + 0.9803102906675362, + 0.07036343065286862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9988268545998134, + 0.005123643204569817, + -0.04815194453835786, + 0.19889746052340104 + ], + [ + 0.004237983916278442, + 0.9813215732574463, + 0.1923277493944776, + 0.09555045654982001 + ], + [ + 0.048237950916102466, + -0.19230620563030243, + 0.9801486594378632, + 0.07018769491624138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9987957036431043, + 0.005125099793076516, + -0.048794503428218505, + 0.1989376901459736 + ], + [ + 0.004382500140839892, + 0.9812340736389162, + 0.1927704897573259, + 0.09547819689874237 + ], + [ + 0.048866803884570896, + -0.19275216758251196, + 0.9800298971683747, + 0.07053090932795852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9987371351382277, + 0.004568438045680523, + -0.05003220623600673, + 0.20059402750414132 + ], + [ + 0.005178434497809741, + 0.9811921715736389, + 0.19296386515682734, + 0.09701897582243267 + ], + [ + 0.049972744267182276, + -0.19297927618026733, + 0.979929431300492, + 0.07195521663787549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9986688239051787, + 0.004126375541090966, + -0.05141524648654896, + 0.20217368454628415 + ], + [ + 0.005910402949004606, + 0.981074929237366, + 0.19353827376664232, + 0.09829128256520149 + ], + [ + 0.05124081764607833, + -0.1935845166444779, + 0.9797445657482902, + 0.07323123258249252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9986022787035019, + 0.003458593972027302, + -0.05273985239240629, + 0.20388025493291273 + ], + [ + 0.006865063534268807, + 0.9809154868125916, + 0.1943133273522454, + 0.09913540623453199 + ], + [ + 0.05240538632209959, + -0.19440379738807678, + 0.979520710076102, + 0.07338606415434973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9985270335388579, + 0.0027966341003775597, + -0.05418440106733451, + 0.20566038988570226 + ], + [ + 0.007836537093038675, + 0.9807650446891785, + 0.19503459275088383, + 0.10019727665523019 + ], + [ + 0.053687600291579506, + -0.19517192244529724, + 0.9792984983367228, + 0.07425719141180824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9984405531391607, + 0.002343391068279743, + -0.055776088078344783, + 0.20638344994878277 + ], + [ + 0.008627405838981589, + 0.9806380867958069, + 0.19563880782888307, + 0.10051045478086365 + ], + [ + 0.05515462371891207, + -0.19581490755081177, + 0.9790886139687187, + 0.07407246650583363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.998379947399708, + 0.0023114392533898354, + -0.056852316107463004, + 0.2043703729810892 + ], + [ + 0.008903280107801332, + 0.9805205464363098, + 0.19621477653482658, + 0.09968978935929625 + ], + [ + 0.0561984100722825, + -0.19640305638313293, + 0.9789114388557103, + 0.07267563647786948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9982927947930879, + 0.0019207689911127095, + -0.058376103201012434, + 0.20549622041593393 + ], + [ + 0.009618195495435834, + 0.9804085493087771, + 0.19673991082549755, + 0.10056907253108675 + ], + [ + 0.05761033626087964, + -0.19696550071239477, + 0.9787163279770617, + 0.07248737069234805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9981614573958039, + 0.001475609838962555, + -0.06059358434413621, + 0.20633955184627206 + ], + [ + 0.010579374007022578, + 0.9801160097122192, + 0.19814297212337867, + 0.1015270155196111 + ], + [ + 0.05968111760815599, + -0.1984197199344635, + 0.9782983878483009, + 0.0724270603468768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9980245058375199, + 0.0017883405089378361, + -0.06279996242857834, + 0.206826350756984 + ], + [ + 0.010774695355413921, + 0.979912340641022, + 0.19913739195647343, + 0.10152133688053586 + ], + [ + 0.061894602242119234, + -0.1994206458330155, + 0.9779573128102543, + 0.07246428137931896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9979063266222883, + 0.0010229935869574547, + -0.06466816617304001, + 0.208332165654342 + ], + [ + 0.011906219473017907, + 0.9798808693885803, + 0.1992278648277358, + 0.1027377936972368 + ], + [ + 0.06357088856752671, + -0.19958069920539856, + 0.9778170947931475, + 0.07428207285112211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9977367706362809, + 0.0012145908549427986, + -0.06723003704320764, + 0.20877355447330156 + ], + [ + 0.012301416929369232, + 0.9796656370162964, + 0.20025973091290422, + 0.10302981803122443 + ], + [ + 0.06610618192051201, + -0.20063352584838867, + 0.9774334843564095, + 0.07436684882907618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9975482194611539, + 0.0014516860246658325, + -0.06996749728879756, + 0.20913817440020246 + ], + [ + 0.012709844747734476, + 0.9794001579284668, + 0.20152878376623184, + 0.10389943259192655 + ], + [ + 0.06881871895977527, + -0.20192396640777588, + 0.9769804025248335, + 0.07652859675138049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.997361907929168, + 0.0012580687180161478, + -0.07257817991398169, + 0.21070166877044377 + ], + [ + 0.013467292466493665, + 0.979284465312958, + 0.20204101607777597, + 0.10502766264182871 + ], + [ + 0.0713288761808799, + -0.2024854570627213, + 0.9766840743562224, + 0.07791539578968502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9971840102869948, + 0.0006964923813939095, + -0.07499062568706191, + 0.2108282695876206 + ], + [ + 0.014549754764908657, + 0.979159951210022, + 0.20256875845440514, + 0.10586301163673818 + ], + [ + 0.07356888581537833, + -0.2030894160270691, + 0.976392473185052, + 0.07914741061471782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9969643506144692, + 0.00016843713819980624, + -0.07785955939008622, + 0.2117211307385474 + ], + [ + 0.01568830790370613, + 0.979052782058716, + 0.2030012736460799, + 0.10603432072353818 + ], + [ + 0.07626281165521241, + -0.20360650122165685, + 0.9760780825264745, + 0.08059195693843554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9967789577736748, + -8.573848754167558e-05, + -0.08019763754492454, + 0.21131910279432156 + ], + [ + 0.016395234578151317, + 0.979097366333008, + 0.20273012522197223, + 0.10629329661887532 + ], + [ + 0.07850391543665265, + -0.20339198410511022, + 0.9759450977702974, + 0.08034217386585502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9965795656470258, + -0.0008902549743652344, + -0.08263431488545993, + 0.21069709966067335 + ], + [ + 0.017697566959506673, + 0.9790422320365906, + 0.20288704719366943, + 0.10668783415565426 + ], + [ + 0.0807218620565436, + -0.20365549623966217, + 0.9757092205872823, + 0.07989062990107476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9963264716526582, + -0.001743982546031475, + -0.08561822068450571, + 0.21031173316834414 + ], + [ + 0.019181380507067844, + 0.9789347052574158, + 0.20327064032328215, + 0.10740008773149584 + ], + [ + 0.0834601481925275, + -0.20416618883609772, + 0.9753719995578476, + 0.0818518033516082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9960512690556874, + -0.0019028065726161003, + -0.08875960049994194, + 0.211147687564119 + ], + [ + 0.020014032374919444, + 0.9788472652435303, + 0.20361115403137922, + 0.11008325264093259 + ], + [ + 0.0864946548989998, + -0.20458358526229858, + 0.9750201131683477, + 0.08405644119467799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9958295495531463, + -0.0014883894473314285, + -0.09122104603163245, + 0.2126611423939443 + ], + [ + 0.020186938173511113, + 0.9786781072616577, + 0.20440559927010654, + 0.11060097844324582 + ], + [ + 0.08897179522794671, + -0.20539461076259613, + 0.974626614264616, + 0.08480407013352324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9956295622650864, + -0.0021666185930371284, + -0.0933654827475255, + 0.2118561537607083 + ], + [ + 0.02136851356002089, + 0.9784946441650391, + 0.20516251210417122, + 0.11242523819555325 + ], + [ + 0.09091311011896973, + -0.20626093447208405, + 0.9742644699879, + 0.08673102863950692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9953774254283869, + -0.003201534040272236, + -0.09598743267892333, + 0.21246075237927436 + ], + [ + 0.02300677210829463, + 0.9782925248146057, + 0.20594761139773557, + 0.11254262157942163 + ], + [ + 0.09324442784582342, + -0.2072039544582367, + 0.9738439199239732, + 0.08673641519455252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9952173531393685, + -0.0031674355268478394, + -0.09763391679531623, + 0.21284257991470973 + ], + [ + 0.02343691828533127, + 0.9780237674713135, + 0.2071718448257706, + 0.11373774414617314 + ], + [ + 0.09483209110718681, + -0.2084692418575287, + 0.9734204735388182, + 0.08794412014178649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9950877407158588, + -0.003197810612618923, + -0.0989454142433035, + 0.21335288629938073 + ], + [ + 0.02391974857121366, + 0.9776309132575989, + 0.20896335129283633, + 0.11412551104634297 + ], + [ + 0.09606386734498003, + -0.21030361950397491, + 0.9729049838463014, + 0.08802892931048407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9949241334129891, + -0.004134785383939743, + -0.10054275022180595, + 0.21409462064233564 + ], + [ + 0.025237191130528372, + 0.9774749279022217, + 0.20953712794857027, + 0.11490635059006864 + ], + [ + 0.0974116262661333, + -0.21101096272468567, + 0.9726177825208915, + 0.08917302705301007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9946995369305842, + -0.005117865279316902, + -0.10269690068745681, + 0.21406395903086875 + ], + [ + 0.026647799814027782, + 0.9774684309959412, + 0.20939285917405503, + 0.11531747050838834 + ], + [ + 0.09931134005936475, + -0.2110196352005005, + 0.9724237701328413, + 0.08988759305491262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9945069735879992, + -0.005576426163315774, + -0.10452175122557818, + 0.2143688470944171 + ], + [ + 0.027486189334817085, + 0.9774484038352969, + 0.2093778392405337, + 0.11549717116717097 + ], + [ + 0.10099704243758882, + -0.2111006230115891, + 0.9722325594708803, + 0.08874428192300322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9942426738536717, + -0.006762365810573101, + -0.10693832329191891, + 0.21468187947592382 + ], + [ + 0.02913094037652346, + 0.9774755239486694, + 0.20902867870876002, + 0.11524127591435598 + ], + [ + 0.10311606229967545, + -0.2109404355287552, + 0.9720448532218953, + 0.09039199839305148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9939797334027826, + -0.00651960214599967, + -0.1093698321704493, + 0.21539410082285254 + ], + [ + 0.029276672090072172, + 0.9777352213859558, + 0.20779012745418118, + 0.11622313520094267 + ], + [ + 0.10558002264525179, + -0.20974117517471313, + 0.9720398652029455, + 0.09106383657310896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9938094966917423, + -0.006887161172926426, + -0.11088410681967473, + 0.21589015319147903 + ], + [ + 0.029916641580802653, + 0.9777989983558655, + 0.20739834983407113, + 0.11700914831503316 + ], + [ + 0.10699397586531671, + -0.2094317376613617, + 0.9719519600146503, + 0.09103086390721582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9936289823316543, + -0.00781714916229248, + -0.11242950564917754, + 0.2175196375338822 + ], + [ + 0.031179955264562024, + 0.9777206182479858, + 0.20758177800617159, + 0.11772763505890714 + ], + [ + 0.10830194353431861, + -0.20976482331752777, + 0.971735239051716, + 0.0928366836015902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9933589843139324, + -0.008116687647998333, + -0.1147694248725601, + 0.21802604081390975 + ], + [ + 0.03198254534417714, + 0.9776750206947327, + 0.20767431756581628, + 0.1186073435553647 + ], + [ + 0.11052158653236262, + -0.209965780377388, + 0.9714419104337793, + 0.09451654905699342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9930377726674431, + -0.00841387826949358, + -0.11749548655914595, + 0.21757560681721133 + ], + [ + 0.03288518246661634, + 0.9775906205177307, + 0.20793052277751714, + 0.11910699968792234 + ], + [ + 0.11311299537276623, + -0.21034671366214752, + 0.9710611389392309, + 0.09404900651870345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9928088850620238, + -0.009039545431733131, + -0.11936851538866036, + 0.21993654837258814 + ], + [ + 0.03392163979658257, + 0.9775177240371704, + 0.20810671803027925, + 0.11949639830615087 + ], + [ + 0.11480364157753545, + -0.21065936982631683, + 0.9707949167513523, + 0.09593044849702971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9925601512209411, + -0.009881227277219296, + -0.12135387280404948, + 0.22086333162227476 + ], + [ + 0.035174985465033524, + 0.977473258972168, + 0.20810752806736657, + 0.11998601285911821 + ], + [ + 0.11656379708140827, + -0.21082785725593567, + 0.9705485596485016, + 0.09664251807590608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9922636126754706, + -0.01055297814309597, + -0.12369927356342336, + 0.2206506295913112 + ], + [ + 0.03633000036694914, + 0.9774461388587952, + 0.2080365066637388, + 0.11999338864176377 + ], + [ + 0.1187139806604259, + -0.210921049118042, + 0.9702676402903561, + 0.09793341198228221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9919597601508648, + -0.011207439936697485, + -0.1260565053945297, + 0.22133500039736226 + ], + [ + 0.03742735939850912, + 0.9774943590164187, + 0.207615039638823, + 0.11995735461102684 + ], + [ + 0.12089269421181906, + -0.2106637358665467, + 0.9700545295752631, + 0.09831108189893362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9916994702876527, + -0.011726677417755127, + -0.1280417048671465, + 0.2220090653640034 + ], + [ + 0.03826337806424597, + 0.9776307940483093, + 0.2068186246299181, + 0.12046487429217001 + ], + [ + 0.12275221011463676, + -0.21000123023986816, + 0.9699646266475926, + 0.0985355135505543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9914363426913295, + -0.012010977603495121, + -0.13003757434719132, + 0.22250140793233236 + ], + [ + 0.03893565803116752, + 0.9776605367660522, + 0.20655234244696946, + 0.12075697933360775 + ], + [ + 0.12465170768265718, + -0.2098465859889984, + 0.9697558414388148, + 0.09896014841999248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9911528019631441, + -0.012345938012003899, + -0.13215031056614682, + 0.22403692994124177 + ], + [ + 0.039673453537781816, + 0.9777014255523682, + 0.20621830613270672, + 0.12141060369260505 + ], + [ + 0.12665758044726855, + -0.20963671803474426, + 0.9695412744628032, + 0.09955961834794175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9909145247266746, + -0.012247232720255852, + -0.13393453817127937, + 0.2247365314502969 + ], + [ + 0.039964063251611184, + 0.9776779413223267, + 0.20627330491982804, + 0.12215112722235266 + ], + [ + 0.1284185747026866, + -0.20975176990032196, + 0.9692847449595022, + 0.09974014738275228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9906461281191054, + -0.012898185290396217, + -0.13584522472738791, + 0.2258556800527798 + ], + [ + 0.04105705223155911, + 0.9775659441947939, + 0.20658936681670353, + 0.12289004902933966 + ], + [ + 0.1301330328927205, + -0.21023434400558477, + 0.9689514271498483, + 0.10026121348483921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9903688300900201, + -0.013181047514081001, + -0.1378255566836575, + 0.22664456604287575 + ], + [ + 0.041792919074223604, + 0.9774843454360962, + 0.2068276492736233, + 0.12353944222948442 + ], + [ + 0.1319961257125325, + -0.21059578657150269, + 0.9686209174492622, + 0.1014723803899801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9900575552328175, + -0.013672426342964176, + -0.13999673734340712, + 0.22720802454083183 + ], + [ + 0.04275131776780923, + 0.9774320125579836, + 0.20687909558477477, + 0.12401505594297017 + ], + [ + 0.1340087566034695, + -0.21080724895000463, + 0.9682984817880533, + 0.10328213345665864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9897776659499546, + -0.013846928253769878, + -0.1419451672384945, + 0.22957923442231942 + ], + [ + 0.04335913180963665, + 0.9773803353309634, + 0.2069967063097746, + 0.12314146488659714 + ], + [ + 0.13586815429167523, + -0.21103532612323767, + 0.9679896604404997, + 0.10341681912407337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9895949332851993, + -0.013063739985227585, + -0.14328701475046268, + 0.22915016670885013 + ], + [ + 0.04282485984623741, + 0.97747802734375, + 0.2066463993340557, + 0.1233935855466217 + ], + [ + 0.1373603407295736, + -0.21063248813152313, + 0.9678667606675031, + 0.10360143921405936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9893046077361204, + -0.01373686920851469, + -0.14521589044140895, + 0.2286636767226009 + ], + [ + 0.04381982649743565, + 0.9775586128234863, + 0.20605568136791638, + 0.12314005257584354 + ], + [ + 0.13912648726064078, + -0.21021516621112823, + 0.9677052159802516, + 0.10271654848000251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9889321538593598, + -0.01406728196889162, + -0.1477000676136574, + 0.2299658379286827 + ], + [ + 0.044578699933536074, + 0.9776700735092163, + 0.20536314629542685, + 0.1230105670024906 + ], + [ + 0.1415130251028512, + -0.20967450737953186, + 0.9674764355988332, + 0.10336627527150147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9885573686605376, + -0.01416816096752882, + -0.15017844008404033, + 0.2309033428080405 + ], + [ + 0.04508235838342496, + 0.9778264760971069, + 0.20450667456490826, + 0.1228727510070215 + ], + [ + 0.1439509771047146, + -0.20893697440624237, + 0.9672763138836785, + 0.1039541369672743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9881970005392229, + -0.014464478939771652, + -0.152504039465879, + 0.23235020025425107 + ], + [ + 0.04577677123191545, + 0.9779267907142639, + 0.20387175215778777, + 0.12356920590791219 + ], + [ + 0.14618887474021036, + -0.20844660699367523, + 0.9670464369940265, + 0.10527862624734612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9879034780166172, + -0.01461363397538662, + -0.1543799289119831, + 0.2325546468714086 + ], + [ + 0.04625935925591735, + 0.9779930710792542, + 0.2034445050627671, + 0.12278279489533364 + ], + [ + 0.14800944422272924, + -0.2081250548362732, + 0.9668387685082074, + 0.10543897752901613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9875996858129223, + -0.014795719645917416, + -0.15629427053661585, + 0.2328676527345721 + ], + [ + 0.046749895776854525, + 0.9781009554862976, + 0.20281276447684998, + 0.12281567991938681 + ], + [ + 0.14987082695152096, + -0.2076045721769333, + 0.9666639190992368, + 0.10520759088121368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.987291874163577, + -0.01493439078330994, + -0.15821397510697394, + 0.23367103739799333 + ], + [ + 0.047232971433942054, + 0.978160619735718, + 0.20241254423355695, + 0.12282081969720103 + ], + [ + 0.1517357790732427, + -0.20731317996978765, + 0.9664354431391298, + 0.10588339964948283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9869714250639341, + -0.0147244380787015, + -0.16022044524316542, + 0.2344313324741336 + ], + [ + 0.04735183833626542, + 0.9782843589782717, + 0.20178586308450933, + 0.12271098125721178 + ], + [ + 0.15376997292720995, + -0.20674361288547521, + 0.9662359595645544, + 0.10618810191620319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9866515112005321, + -0.014322007074952126, + -0.16221490835656213, + 0.23582290663753186 + ], + [ + 0.04731530959415909, + 0.9783636927604675, + 0.2014092876139016, + 0.12262586759754555 + ], + [ + 0.15582060396716868, + -0.20639602839946747, + 0.9659817095729474, + 0.10642988541797443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9863968817367041, + -0.014611089602112774, + -0.16373070766370804, + 0.23696270103612077 + ], + [ + 0.047929512076411614, + 0.9783259630203249, + 0.2014473110947603, + 0.12275396443069883 + ], + [ + 0.15723862863377736, + -0.20655453205108648, + 0.9657179775384273, + 0.10648407944171878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9861426579747252, + -0.014832819811999798, + -0.16523509043929388, + 0.2378689959844787 + ], + [ + 0.04847653856742925, + 0.9782893061637878, + 0.20149468564466405, + 0.12276063406858698 + ], + [ + 0.15865897591830186, + -0.206712543964386, + 0.9654518202012785, + 0.10667856502805756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9859006962944127, + -0.01494571939110756, + -0.1666625642547276, + 0.23874195081683658 + ], + [ + 0.0488872757422127, + 0.9782745838165283, + 0.20146683390434952, + 0.1227198264450195 + ], + [ + 0.16003068693120454, + -0.20677396655082703, + 0.9652122455871625, + 0.10658362775678193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 741.2473958333333, + "fy": 741.03076171875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_037/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_037/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8b83f335a56afefb3172b32acadf44663065b757 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_037/boom_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999773127682, + 0.0001735146220590681, + 0.0001235602642212247, + -1.0666557460709146e-05 + ], + [ + -0.0001734979015274917, + 0.9999999757933861, + -0.0001353207494937281, + 4.682161014083724e-05 + ], + [ + -0.00012358374135895423, + 0.0001352993089771203, + 0.9999999832105777, + 8.189826718238941e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999799446670666, + 0.006220420875908165, + 0.001190221734415483, + -0.0007930739130404754 + ], + [ + -0.006209721437439406, + 0.9999420741053248, + -0.00879134765611979, + 0.00147921340274891 + ], + [ + -0.0012448386722441489, + 0.008783780397296105, + 0.9999606470149774, + -0.0008562317070609371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999557919743205, + 0.00924720457806888, + 0.001703908595257167, + -0.0011728228685275142 + ], + [ + -0.009224064935889401, + 0.9998713627839309, + -0.013121528518562015, + 0.00282019631706529 + ], + [ + -0.0018250268677871447, + 0.013105231478164838, + 0.9999124572605522, + -0.0013090032037321186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999222158528099, + 0.01227609511635031, + 0.0022044801429978783, + -0.0015449969641236985 + ], + [ + -0.012235783129675557, + 0.9997728135363086, + -0.017452991860908623, + 0.004160898060854829 + ], + [ + -0.0024182339030993146, + 0.017424660753877406, + 0.9998452546981469, + -0.0017509786544704638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998267973680801, + 0.018339855703439188, + 0.003166221322822072, + -0.0022895159239674674 + ], + [ + -0.01825100467154286, + 0.9994922131386782, + -0.026119278390231142, + 0.005591675275763479 + ], + [ + -0.0036436373539891023, + 0.02605696774231614, + 0.9996538192488981, + -0.00263514599332587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996936999533905, + 0.024411020087011577, + 0.004075337018195937, + -0.0030188292086154927 + ], + [ + -0.024254708976539266, + 0.9991003044974281, + -0.03478923174790804, + 0.0070210553131554295 + ], + [ + -0.004920911090819086, + 0.03467972969124449, + 0.9993863622156239, + -0.0034977922212071195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9996130261634737, + 0.02744916517557093, + 0.004510128098735912, + -0.0033606207861798586 + ], + [ + -0.02725203092808383, + 0.9988626228818087, + -0.039125278528959584, + 0.008359380181648278 + ], + [ + -0.005578954615117928, + 0.03898722791938569, + 0.9992241346787839, + -0.003896691172251978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995229385904777, + 0.030488904883516764, + 0.004931724897067059, + -0.003694803048103195 + ], + [ + -0.030246220254568155, + 0.9985971317266532, + -0.04346187602501378, + 0.009696867512631137 + ], + [ + -0.00624991134086193, + 0.04329197600370517, + 0.999042913703874, + -0.004284845441484924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999314532500614, + 0.036572825952939605, + 0.005735288562541443, + -0.004386035587979222 + ], + [ + -0.03622486408800665, + 0.9979827514645813, + -0.05213623500972704, + 0.01112143432464515 + ], + [ + -0.0076304885089407545, + 0.05189273726640395, + 0.9986235123729639, + -0.005093832558593251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989429598652811, + 0.04588336177054196, + -0.00277128999289344, + -0.004655389348410296 + ], + [ + -0.04596386321916171, + 0.9977600016513041, + -0.0486035223287353, + 0.012410965232967919 + ], + [ + 0.000534989309553625, + 0.04867952564911911, + 0.9988143058491981, + -0.00520878793773811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9986970524091912, + 0.05054728793153865, + -0.007012074725747695, + -0.004749642729594797 + ], + [ + -0.05082092202170124, + 0.9976103640064985, + -0.04680593457763214, + 0.013678573966667683 + ], + [ + 0.004629405367593594, + 0.04710130900078622, + 0.9988793897645275, + -0.005239502573797576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984110777028151, + 0.05521671925200701, + -0.011244280116952343, + -0.004832160599434072 + ], + [ + -0.055669408711953666, + 0.997435226073747, + -0.044987628531351076, + 0.014945457977296179 + ], + [ + 0.008731371826059705, + 0.04554210911078245, + 0.9989242611148139, + -0.005273901271050849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977189773905606, + 0.06457129492669843, + -0.019682226150094437, + -0.005042634386068966 + ], + [ + -0.06533983315385299, + 0.9970084805283477, + -0.041289174828059425, + 0.016230409231098784 + ], + [ + 0.016957250902218324, + 0.0424810266594951, + 0.9989533592794984, + -0.00540656254146509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9968667778313381, + 0.07394548167869464, + -0.028083678453353012, + -0.00522940305351093 + ], + [ + -0.07497347516612599, + 0.9964798383299829, + -0.03750879661313565, + 0.017512637800427198 + ], + [ + 0.02521121333216193, + 0.03949680418916347, + 0.9989015953441877, + -0.005545627543317019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9963806855128123, + 0.07863942605613394, + -0.03227026815166069, + -0.005264733835217511 + ], + [ + -0.07977598530042773, + 0.9961773336839973, + -0.035588088226088783, + 0.018775222969230634 + ], + [ + 0.029348282852054278, + 0.038033676180508534, + 0.998845392325475, + -0.00559369761324873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9958546254330157, + 0.08333766902289143, + -0.03644719365738348, + -0.0052882491574307786 + ], + [ + -0.08456867968925967, + 0.9958493902993719, + -0.03364714335548456, + 0.02003657490006961 + ], + [ + 0.03349184108530332, + 0.03658995438915075, + 0.9987689782019246, + -0.005645061636627758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9946826940833562, + 0.0927462433816832, + -0.04477133491043418, + -0.005415718904796603 + ], + [ + -0.09412379826730101, + 0.9951172447474748, + -0.02970487848706182, + 0.021311302131297293 + ], + [ + 0.04179771154995332, + 0.03376097665619685, + 0.9985555306363322, + -0.005799576418333806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9942591648999912, + 0.09393932936790575, + -0.05122612039067799, + -0.005379162931170756 + ], + [ + -0.09558532277231868, + 0.9949482130046254, + -0.030683863990937248, + 0.022823313501965807 + ], + [ + 0.04808491533614019, + 0.035404178239450794, + 0.9982156004993639, + -0.005800931096614976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9940314816134438, + 0.09453181824905278, + -0.05445318080617968, + -0.005300772723539309 + ], + [ + -0.09631832411771289, + 0.9948624153946777, + -0.031169775010794376, + 0.024200921691632626 + ], + [ + 0.05122688747657472, + 0.036228576753667655, + 0.9980297070858495, + -0.005777363873618564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9937931891916628, + 0.09512159561647583, + -0.05767997194555503, + -0.005220965692155938 + ], + [ + -0.09705280735673143, + 0.9947757645580974, + -0.03165329101421295, + 0.02557829512314205 + ], + [ + 0.05436772664404451, + 0.037054828231000106, + 0.9978331974855967, + -0.005751691646462616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9932847876324822, + 0.09629298967336085, + -0.06413260323470878, + -0.0051775087540217035 + ], + [ + -0.09852618691212199, + 0.9945999070589723, + -0.03261311654597096, + 0.02708907513063126 + ], + [ + 0.060645866721914, + 0.03871285339586204, + 0.9974083385612426, + -0.00574239641479788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9927339827788856, + 0.09745345956689898, + -0.07058372797192282, + -0.005131410090033112 + ], + [ + -0.10000539606852919, + 0.9944206483095842, + -0.03356329800128627, + 0.028599326211553262 + ], + [ + 0.06691905702524668, + 0.04037818017183699, + 0.996941042576171, + -0.005728764452929274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9924426866800199, + 0.09802958184373456, + -0.07380863593703954, + -0.005046114856865752 + ], + [ + -0.10074716624819852, + 0.9943297459455427, + -0.03403475900943657, + 0.02997570557656396 + ], + [ + 0.07005370902601624, + 0.041213558587133915, + 0.9966914870913081, + -0.005694555787666594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9921407990686295, + 0.0986029538101043, + -0.07703305993782235, + -0.0049594583894321965 + ], + [ + -0.10149036919734743, + 0.9942379962631699, + -0.03450379322311597, + 0.031351833325262535 + ], + [ + 0.07318701922914884, + 0.04205073467277202, + 0.9964313302630707, + -0.005658206993343361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915052628197095, + 0.09974142140295178, + -0.08348031299257314, + -0.004906780577192627 + ], + [ + -0.10298104041423911, + 0.9940519590235185, + -0.03543456048416981, + 0.032860756442671675 + ], + [ + 0.07944947524068383, + 0.043730442691839184, + 0.9958792242365316, + -0.005633726267175945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9912814807890724, + 0.10268858289380926, + -0.08255955903398114, + -0.00472482581465512 + ], + [ + -0.10571684028627949, + 0.9938427575532469, + -0.03317413056650573, + 0.03425733909012519 + ], + [ + 0.07864461535610322, + 0.04161283698835687, + 0.9960338328958868, + -0.00538300255943565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9911662839351769, + 0.10416111539829119, + -0.08209664809915308, + -0.004566018185044934 + ], + [ + -0.10708510193321501, + 0.9937333198887086, + -0.032044810608250554, + 0.03557636343527931 + ], + [ + 0.07824435145162405, + 0.04055306378005932, + 0.9961090655565611, + -0.005234311226165217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9910488837120169, + 0.10563294235562884, + -0.08163204997093593, + -0.004403553036389662 + ], + [ + -0.10845359847776623, + 0.9936206581002455, + -0.030916092470724847, + 0.03689500537208962 + ], + [ + 0.07784553340037212, + 0.03949264850231419, + 0.9961829167597104, + -0.005088290995759382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9908074747725062, + 0.10857445948381894, + -0.0806977984998744, + -0.004203379569763951 + ], + [ + -0.11119127752590896, + 0.9933856637047779, + -0.0286604771065393, + 0.03828936163549367 + ], + [ + 0.07705224031192129, + 0.03736990625643484, + 0.9963264737872318, + -0.004850985331127949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9905572572751253, + 0.11151309401269595, + -0.07975681740952845, + -0.003995956804542863 + ], + [ + -0.11392983995531199, + 0.9931377775836223, + -0.02640731535049699, + 0.039682663087852864 + ], + [ + 0.07626474694993896, + 0.03524463930840023, + 0.9964645020133345, + -0.004619078042564342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9904288463828889, + 0.11298131773014045, + -0.07928380727879651, + -0.003818917453025562 + ], + [ + -0.11529944072360437, + 0.9930090011794104, + -0.025281664215278443, + 0.0409995338169845 + ], + [ + 0.07587317853816548, + 0.034181068161061055, + 0.9965314422324489, + -0.004483788245149402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9902982346450389, + 0.11444880571603537, + -0.0788091195807502, + -0.0036382360518121964 + ], + [ + -0.11666924827848714, + 0.9928770031300297, + -0.02415663804555905, + 0.042315957766355314 + ], + [ + 0.0754830640942226, + 0.033116876750451836, + 0.9965969995485854, + -0.004351181410804524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9900304104279416, + 0.11738155440762263, + -0.07785471798633535, + -0.00341268590780914 + ], + [ + -0.11940946499636718, + 0.9926033439136749, + -0.021908476000677555, + 0.04370666289623377 + ], + [ + 0.07470720244503097, + 0.03098664770899286, + 0.996723964579259, + -0.004132758643915501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906659300391902, + 0.11191695630664505, + -0.07781779970316983, + -0.003479112745456343 + ], + [ + -0.11400638462017301, + 0.9932152908778952, + -0.022933168821059283, + 0.044870571459213644 + ], + [ + 0.07472321811474221, + 0.031590835022115626, + 0.9967037974329094, + -0.004046881787814271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9909725412836403, + 0.10918339619243513, + -0.07779722628558007, + -0.0034492624094226623 + ], + [ + -0.11130355774486671, + 0.9935098539099028, + -0.02344543062643592, + 0.046073565287078184 + ], + [ + 0.07473245918059389, + 0.031892886037636015, + 0.9966934851623199, + -0.003983445665977671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9912717170049804, + 0.10644902327234133, + -0.07777524355707768, + -0.0034262815339319254 + ], + [ + -0.10859990066756885, + 0.9937968069487294, + -0.02395763079906057, + 0.047276962585321075 + ], + [ + 0.07474252230820419, + 0.03219490554225078, + 0.99668302053167, + -0.003919255795204393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9918477527729229, + 0.10097792276163173, + -0.07772705085135231, + -0.0035271588868148376 + ], + [ + -0.10319017871358033, + 0.9943478743170913, + -0.024981830560257705, + 0.048441918196396955 + ], + [ + 0.07476511443422076, + 0.03279884076957613, + 0.9966616345118386, + -0.0038296142582482625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9923940197017679, + 0.09550382232844136, + -0.07767322306190828, + -0.0036418527373892574 + ], + [ + -0.09777738443239774, + 0.9948684761063946, + -0.026005736738257464, + 0.0496068424428623 + ], + [ + 0.074790993800902, + 0.03340262220841285, + 0.9966396400283684, + -0.0037384699959414182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9926559845879107, + 0.09276569952677947, + -0.07764419651920516, + -0.003646403347053348 + ], + [ + -0.09506988696815989, + 0.9951173473900741, + -0.026517569933992676, + 0.05081120520937692 + ], + [ + 0.07480516595574792, + 0.03370444947852071, + 0.9966284148225371, + -0.0036712695129514413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9929105010619432, + 0.09002688961856868, + -0.07761376183723612, + -0.0036578327601658536 + ], + [ + -0.09236168359230214, + 0.9953585963730692, + -0.02702931797565767, + 0.052015818566942366 + ], + [ + 0.07482015961568528, + 0.03400623136779194, + 0.9966170377548459, + -0.0036033166741019796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933971810360683, + 0.08454729236455152, + -0.07754866899835186, + -0.0038070181198349073 + ], + [ + -0.0869432420505889, + 0.9958182201070501, + -0.02805254292500754, + 0.05318090956992144 + ], + [ + 0.07485261098535978, + 0.034609649762020495, + 0.9965938283834718, + -0.003508417145382136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9928736899738579, + 0.08852137004009118, + -0.07978598124934543, + -0.0037206103084523826 + ], + [ + -0.09106082057750294, + 0.9954297930001745, + -0.028765503009361905, + 0.05452063969234907 + ], + [ + 0.07687498106307063, + 0.03582588804000592, + 0.9963968802804922, + -0.0036179903320824316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9926040515188304, + 0.09050683437813148, + -0.08090556123810626, + -0.0036171956106274394 + ], + [ + -0.09311958616628854, + 0.9952290470381152, + -0.02911849247170074, + 0.05581181988885176 + ], + [ + 0.07788414203560727, + 0.03643702598257448, + 0.99629634324177, + -0.003648706960372362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9923291530953988, + 0.09249123439018023, + -0.08202574887161637, + -0.00350887445947944 + ], + [ + -0.09517832077322086, + 0.9950239476109319, + -0.029469152270596252, + 0.05710226422169889 + ], + [ + 0.07889194617803902, + 0.037050171952886485, + 0.9961944316178962, + -0.0036777878123146614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9917635824606985, + 0.09645679749314547, + -0.08426792226041761, + -0.0033981022307731975 + ], + [ + -0.09929565144633794, + 0.994600692927691, + -0.030163475124797633, + 0.058437629385155496 + ], + [ + 0.080903461659986, + 0.038282474386110994, + 0.9959864868793693, + -0.0037788659241957787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9911769905956046, + 0.1004179715225746, + -0.08651245175772093, + -0.00327766297969595 + ], + [ + -0.10341272140920392, + 0.9941600383243895, + -0.03084845619460761, + 0.05977095766640057 + ], + [ + 0.08290948295932724, + 0.039522768047539895, + 0.9957730506703208, + -0.003876413773407339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9908758157432981, + 0.10239688521548597, + -0.08763558451462866, + -0.0031498268704226113 + ], + [ + -0.1054711301296757, + 0.9939331890874497, + -0.031187438811504972, + 0.06105804600144262 + ], + [ + 0.0839104194020209, + 0.040145903011626766, + 0.9956642747368002, + -0.003898763783237706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9905693904915284, + 0.10437466874926145, + -0.0887592876533168, + -0.0030171098737662317 + ], + [ + -0.10752943947994266, + 0.9937019935603258, + -0.031524080309562816, + 0.062344311868843996 + ], + [ + 0.08490996564815957, + 0.04077102546804978, + 0.9955541277177812, + -0.003919439190483108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9899407956051551, + 0.10832680154314868, + -0.09100838018591516, + -0.002872461355140992 + ], + [ + -0.1116457144844714, + 0.9932265687799424, + -0.03219033250643091, + 0.06367277811049259 + ], + [ + 0.08690486542124488, + 0.04202721900214161, + 0.9953297228702968, + -0.00400827125725211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9889819186883554, + 0.11391203212717806, + -0.09454529837150297, + -0.002754686889624696 + ], + [ + -0.11709647703235988, + 0.992702038368372, + -0.02882842496373776, + 0.06499065228153345 + ], + [ + 0.09057140594089166, + 0.03958171239267695, + 0.9951030642450832, + -0.004125991464578019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9884860621604115, + 0.11670657406359326, + -0.09630618092802905, + -0.0026175026832819933 + ], + [ + -0.11981584406194197, + 0.9924250999484006, + -0.027140090348627605, + 0.066268455402133 + ], + [ + 0.09240924426878326, + 0.038366607391666585, + 0.9949816757161541, + -0.004162691862274758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9879792689142849, + 0.11950235134992959, + -0.09806198150880467, + -0.0024732533685407785 + ], + [ + -0.12253115381278223, + 0.9921383842070265, + -0.025446864804509597, + 0.06754494287244321 + ], + [ + 0.09425009570766212, + 0.03715662262516159, + 0.9948549164849053, + -0.004202103607524304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9869328991164705, + 0.12509746463568455, + -0.10155824429007285, + -0.0023199224754637347 + ], + [ + -0.12794945845142697, + 0.9915356359970422, + -0.022045830216337256, + 0.06885440566682763 + ], + [ + 0.0979407408770478, + 0.03475207748703176, + 0.9945852926656367, + -0.004332420214470167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9858428644322171, + 0.13069707715610643, + -0.10503390248358821, + -0.0021523057248756163 + ], + [ + -0.13335110543669462, + 0.9908938254995724, + -0.018625500412995155, + 0.07015977371414119 + ], + [ + 0.10164314697456345, + 0.032368203683147065, + 0.9942942069948077, + -0.004467378708367613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9852814906173104, + 0.13349847843020995, + -0.10676394758414298, + -0.0019797044972707165 + ], + [ + -0.13604559332653826, + 0.9905582823812674, + -0.016908156088214162, + 0.07142997605941737 + ], + [ + 0.10349869942835527, + 0.031184057829153965, + 0.9941406207141659, + -0.004517081774532651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9847092222997026, + 0.1363008938457763, + -0.1084887729433676, + -0.001800030044254988 + ], + [ + -0.13873581013474226, + 0.990212986534115, + -0.015186055624997877, + 0.07269866904678954 + ], + [ + 0.10535711890599463, + 0.03000512682911389, + 0.9939816748108574, + -0.0045693866841234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9835320324549511, + 0.14190861941774124, + -0.11192267361881451, + -0.0015968425465946578 + ], + [ + -0.14410328880448225, + 0.9894931549767297, + -0.01172767709010304, + 0.07399451551871483 + ], + [ + 0.10908246096767797, + 0.027662971444666243, + 0.993647712582325, + -0.004716298103747218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.98324285131895, + 0.1424704993133738, + -0.11373500848718203, + -0.0014158146248030995 + ], + [ + -0.14500326338787273, + 0.9893282246181799, + -0.014272966780161746, + 0.07527519131215499 + ], + [ + 0.11048777731970456, + 0.03052573994579568, + 0.9934085918008326, + -0.0046410981717439695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9830970944292717, + 0.14274945053551838, + -0.11464160368963416, + -0.001235698434578117 + ], + [ + -0.14545456938042597, + 0.9892428027422634, + -0.015544949951223894, + 0.07653343882580674 + ], + [ + 0.11118934828066218, + 0.031957340227853855, + 0.9932852849179247, + -0.004580825495366536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9829505605067871, + 0.14302707495248826, + -0.11554848086378583, + -0.0010549827181794078 + ], + [ + -0.14590675291100916, + 0.9891554100357194, + -0.01681648750583139, + 0.07779132743600989 + ], + [ + 0.11189019194888841, + 0.03338907946624721, + 0.9931594808076081, + -0.004516963570254237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9826551631207033, + 0.1435783404278456, + -0.11736307150126021, + -0.0008712457588814348 + ], + [ + -0.14681374778466735, + 0.988974713063523, + -0.019358212271347153, + 0.07906978006340573 + ], + [ + 0.11328968997064257, + 0.03625295961584573, + 0.9929003822466017, + -0.004423787247709594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9823566622959113, + 0.1441242898885663, + -0.11917876114037061, + -0.0006865359820111099 + ], + [ + -0.14772423838241883, + 0.9887861356194259, + -0.021898114100005747, + 0.08034718006238867 + ], + [ + 0.1146862565313355, + 0.039117349998678136, + 0.9926312988677668, + -0.004323412319506873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9822062490827613, + 0.14439526930046429, + -0.12008701206383353, + -0.0005035756127505266 + ], + [ + -0.14818079155942285, + 0.9886888923426087, + -0.02316737298807642, + 0.08160340669684259 + ], + [ + 0.11538343588052745, + 0.040549727027344634, + 0.9924930137600024, + -0.004245181931290901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9820550612005623, + 0.14466491754019273, + -0.12099553051021829, + -0.0003200426247685472 + ], + [ + -0.1486382150407331, + 0.9885896797049024, + -0.02443616603445168, + 0.08285923513593443 + ], + [ + 0.11607987680844904, + 0.04198222021341596, + 0.9923522335270313, + -0.00416336145310763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9817503630357122, + 0.14520021764475044, + -0.12281336032844473, + -0.0001327792645231269 + ], + [ + -0.14955566805908033, + 0.988385347405046, + -0.026972341136963413, + 0.08413418628934298 + ], + [ + 0.1174705360107354, + 0.04484753985363801, + 0.992063189186267, + -0.004045009144631153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.981546520123677, + 0.14602037748722466, + -0.12346853117935974, + 0.00025361150373922475 + ], + [ + -0.15050485323775784, + 0.9882194798369413, + -0.027758761187886633, + 0.08538705551690462 + ], + [ + 0.11796066287106513, + 0.04582912861154538, + 0.9919601670358167, + -0.0038980365871481982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9814441759006726, + 0.14643016938909084, + -0.12379634519375732, + 0.0005390710620049102 + ], + [ + -0.1509795452326914, + 0.9881359508129903, + -0.02815172520889853, + 0.08663087086383181 + ], + [ + 0.1182053573742724, + 0.046320062646652366, + 0.9919082343061937, + -0.0037946685954444725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9813415498995688, + 0.1468397690113235, + -0.12412431138746834, + 0.0008255389966059512 + ], + [ + -0.15145430318910752, + 0.9880520250167354, + -0.028544524971180284, + 0.08787444415851861 + ], + [ + 0.11844980576688986, + 0.04681108946638183, + 0.9918560205073902, + -0.0036900654979408476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9811354527635655, + 0.14765839061729225, + -0.12478069967244548, + 0.0012169240533828323 + ], + [ + -0.15240401605945259, + 0.9878829832713623, + -0.029329630952743366, + 0.0891260049246467 + ], + [ + 0.1189379637432221, + 0.04779342050099725, + 0.9917507498043203, + -0.0035368944520796242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.980928229118044, + 0.14847624070687931, + -0.1254376947527788, + 0.0016102891208867164 + ], + [ + -0.15335398999460287, + 0.987712354930853, + -0.030114077599759113, + 0.09037700624258084 + ], + [ + 0.11942513584699715, + 0.048776119797518745, + 0.9916443551321333, + -0.003381235816042465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9808241949805585, + 0.14888487593398786, + -0.12576641944040745, + 0.0019007662586450064 + ], + [ + -0.15382907428190606, + 0.9876264458914045, + -0.03050605319415843, + 0.09161956178689962 + ], + [ + 0.11966835189936932, + 0.04926760694446233, + 0.9915907363724485, + -0.0032716810178950347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.980719879367582, + 0.14929331768333942, + -0.1260952953457714, + 0.002192247813320135 + ], + [ + -0.15430422313985853, + 0.9875401403283376, + -0.030897863380698103, + 0.09286186736714862 + ], + [ + 0.11991132112707528, + 0.049759185437354546, + 0.9915368366985519, + -0.003160889394927306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9805104039189548, + 0.15010961995143657, + -0.12675350016754416, + 0.0025905841735584367 + ], + [ + -0.15525471364001364, + 0.9873663398000426, + -0.031680986765321086, + 0.09411151477822637 + ], + [ + 0.12039651863424332, + 0.050742615501197526, + 0.9914281947134912, + -0.0029990226612988096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9804875182543071, + 0.15088422967262863, + -0.1260086337661318, + 0.0028033625364365378 + ], + [ + -0.1561073079898553, + 0.9872019316943866, + -0.03260144860327559, + 0.09535394579135414 + ], + [ + 0.11947692220537881, + 0.05163618203323145, + 0.9914933029352043, + -0.0028986745175031787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9804755700322048, + 0.1512717482577035, + -0.12563643877904626, + 0.0030050423930867674 + ], + [ + -0.15653324566654064, + 0.9871191685730196, + -0.03306191217713757, + 0.0965919052812551 + ], + [ + 0.11901680373426898, + 0.05208267672430339, + 0.9915252872287776, + -0.002815137566851966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9804632848922934, + 0.15165940904129196, + -0.12526440287431878, + 0.0032077043773103293 + ], + [ + -0.15695894336498764, + 0.9870360327999859, + -0.03352253051623319, + 0.09782962292725887 + ], + [ + 0.11855647209646615, + 0.052528978704247345, + 0.9915568916206112, + -0.002730502446141322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9804377038862865, + 0.15243515635012317, + -0.12452080913124568, + 0.003425432833830941 + ], + [ + -0.15780961788971576, + 0.9868686434822264, + -0.03444423047554557, + 0.09907074131109053 + ], + [ + 0.11763517033476216, + 0.05342100354789406, + 0.9916189606296602, + -0.002624716934243536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9804107752926274, + 0.15321146989056786, + -0.12377785417464977, + 0.0036451551584164247 + ], + [ + -0.15865932969046095, + 0.9866997641097764, + -0.03536654645120318, + 0.10031129780386383 + ], + [ + 0.11671301894939935, + 0.05431225459952039, + 0.9916795098256462, + -0.0025167758377185956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9803968056688468, + 0.1535998384633809, + -0.12340661675268905, + 0.0038517645320689242 + ], + [ + -0.1590838239844263, + 0.9866147657691493, + -0.035827934810412354, + 0.10154799783479933 + ], + [ + 0.11625162528246158, + 0.05475758933983828, + 0.991709214451936, + -0.0024277744181026807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9803824991706256, + 0.15398834795282454, + -0.12303553964086143, + 0.004059358742670724 + ], + [ + -0.15950807689576482, + 0.9865293950545869, + -0.03628947641183969, + 0.10278444859795714 + ], + [ + 0.11579001997138148, + 0.05520272989617932, + 0.9917385390752124, + -0.0023376788373036875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9803528755825583, + 0.15476578882584868, + -0.12229386716480059, + 0.0042840464657942 + ], + [ + -0.16035585763629367, + 0.9863575366918893, + -0.03721301832473656, + 0.10402364983352444 + ], + [ + 0.11486617543357922, + 0.0560924274766325, + 0.9917960482483489, + -0.0022243237385171062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_037/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_037/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2bfc78b2736d29aed6a22e89a4556faa02652a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_037/boom_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999773127682, + 0.0001735146220590681, + 0.0001235602642212247, + -1.0666557460709146e-05 + ], + [ + -0.0001734979015274917, + 0.9999999757933861, + -0.0001353207494937281, + 4.682161014083724e-05 + ], + [ + -0.00012358374135895423, + 0.0001352993089771203, + 0.9999999832105777, + 8.189826718238941e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999799446670666, + 0.006220420875908165, + 0.001190221734415483, + -0.0008086249652302459 + ], + [ + -0.006209721437439406, + 0.9999420741053248, + -0.00879134765611979, + -0.0010206417825144025 + ], + [ + -0.0012448386722441489, + 0.008783780397296105, + 0.9999606470149774, + -0.0008781911580541774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999557919743205, + 0.00924720457806888, + 0.001703908595257167, + -0.0012190588914178587 + ], + [ + -0.009224064935889401, + 0.9998713627839309, + -0.013121528518562015, + -0.0021791604968543657 + ], + [ + -0.0018250268677871447, + 0.013105231478164838, + 0.9999124572605522, + -0.0013745293611229427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999222158528099, + 0.01227609511635031, + 0.0022044801429978783, + -0.001637067677496326 + ], + [ + -0.012235783129675557, + 0.9997728135363086, + -0.017452991860908623, + -0.0033373980406674877 + ], + [ + -0.0024182339030993146, + 0.017424660753877406, + 0.9998452546981469, + -0.0018816636101245442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998267973680801, + 0.018339855703439188, + 0.003166221322822072, + -0.0024729144810018595 + ], + [ + -0.01825100467154286, + 0.9994922131386782, + -0.026119278390231142, + -0.004403246855623304 + ], + [ + -0.0036436373539891023, + 0.02605696774231614, + 0.9996538192488981, + -0.0028957156707490315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996936999533905, + 0.024411020087011577, + 0.004075337018195937, + -0.0033239669597031375 + ], + [ + -0.024254708976539266, + 0.9991003044974281, + -0.03478923174790804, + -0.005467698493062423 + ], + [ + -0.004920911090819086, + 0.03467972969124449, + 0.9993863622156239, + -0.003931288842347676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9996130261634737, + 0.02744916517557093, + 0.004510128098735912, + -0.003772358263813423 + ], + [ + -0.02725203092808383, + 0.9988626228818087, + -0.039125278528959584, + -0.006623559161578855 + ], + [ + -0.005578954615117928, + 0.03898722791938569, + 0.9992241346787839, + -0.004481499591042764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995229385904777, + 0.030488904883516764, + 0.004931724897067059, + -0.0042283588835647385 + ], + [ + -0.030246220254568155, + 0.9985971317266532, + -0.04346187602501378, + -0.007778582292585296 + ], + [ + -0.00624991134086193, + 0.04329197600370517, + 0.999042913703874, + -0.005042455021549765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999314532500614, + 0.036572825952939605, + 0.005735288562541443, + -0.005117492107038014 + ], + [ + -0.03622486408800665, + 0.9979827514645813, + -0.05213623500972704, + -0.008838220704646477 + ], + [ + -0.0076304885089407545, + 0.05189273726640395, + 0.9986235123729639, + -0.006131687303921331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989429598652811, + 0.04588336177054196, + -0.00277128999289344, + -0.00568776498824749 + ], + [ + -0.04596386321916171, + 0.9977600016513041, + -0.0486035223287353, + -0.010038634804186427 + ], + [ + 0.000534989309553625, + 0.04867952564911911, + 0.9988143058491981, + -0.0063040772648432905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9986970524091912, + 0.05054728793153865, + -0.007012074725747695, + -0.006013324927883263 + ], + [ + -0.05082092202170124, + 0.9976103640064985, + -0.04680593457763214, + -0.011261685133494782 + ], + [ + 0.004629405367593594, + 0.04710130900078622, + 0.9988793897645275, + -0.006417035298817232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984110777028151, + 0.05521671925200701, + -0.011244280116952343, + -0.006350620378864264 + ], + [ + -0.055669408711953666, + 0.997435226073747, + -0.044987628531351076, + -0.012484010739731868 + ], + [ + 0.008731371826059705, + 0.04554210911078245, + 0.9989242611148139, + -0.006526309271597367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977189773905606, + 0.06457129492669843, + -0.019682226150094437, + -0.00697977323386992 + ], + [ + -0.06533983315385299, + 0.9970084805283477, + -0.041289174828059425, + -0.013679845184751653 + ], + [ + 0.016957250902218324, + 0.0424810266594951, + 0.9989533592794984, + -0.006680993341249943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9968667778313381, + 0.07394548167869464, + -0.028083678453353012, + -0.007632631208068505 + ], + [ + -0.07497347516612599, + 0.9964798383299829, + -0.03750879661313565, + -0.014872956945297248 + ], + [ + 0.02521121333216193, + 0.03949680418916347, + 0.9989015953441877, + -0.006829273679464832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9963806855128123, + 0.07863942605613394, + -0.03227026815166069, + -0.008017113747182199 + ], + [ + -0.07977598530042773, + 0.9961773336839973, + -0.035588088226088783, + -0.016090983709709274 + ], + [ + 0.029348282852054278, + 0.038033676180508534, + 0.998845392325475, + -0.006924876279566529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9958546254330157, + 0.08333766902289143, + -0.03644719365738348, + -0.008413411745789207 + ], + [ + -0.08456867968925967, + 0.9958493902993719, + -0.03364714335548456, + -0.01730777723615684 + ], + [ + 0.03349184108530332, + 0.03658995438915075, + 0.9987689782019246, + -0.007017184926220911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9946826940833562, + 0.0927462433816832, + -0.04477133491043418, + -0.009125568640063933 + ], + [ + -0.09412379826730101, + 0.9951172447474748, + -0.02970487848706182, + -0.018493387658601704 + ], + [ + 0.04179771154995332, + 0.03376097665619685, + 0.9985555306363322, + -0.0071500154845816795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9942591648999912, + 0.09393932936790575, + -0.05122612039067799, + -0.009371584429306752 + ], + [ + -0.09558532277231868, + 0.9949482130046254, + -0.030683863990937248, + -0.01946198555073078 + ], + [ + 0.04808491533614019, + 0.035404178239450794, + 0.9982156004993639, + -0.007305608671791635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9940314816134438, + 0.09453181824905278, + -0.05445318080617968, + -0.009554704544746684 + ], + [ + -0.09631832411771289, + 0.9948624153946777, + -0.031169775010794376, + -0.020567887001127876 + ], + [ + 0.05122688747657472, + 0.036228576753667655, + 0.9980297070858495, + -0.007407649827533609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9937931891916628, + 0.09512159561647583, + -0.05767997194555503, + -0.00973924148393854 + ], + [ + -0.09705280735673143, + 0.9947757645580974, + -0.03165329101421295, + -0.02167355369336758 + ], + [ + 0.05436772664404451, + 0.037054828231000106, + 0.9978331974855967, + -0.0075117959874351214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9932847876324822, + 0.09629298967336085, + -0.06413260323470878, + -0.009992158237689746 + ], + [ + -0.09852618691212199, + 0.9945999070589723, + -0.03261311654597096, + -0.022640920222317354 + ], + [ + 0.060645866721914, + 0.03871285339586204, + 0.9974083385612426, + -0.007678039084590983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9927339827788856, + 0.09745345956689898, + -0.07058372797192282, + -0.010247716717295309 + ], + [ + -0.10000539606852919, + 0.9944206483095842, + -0.03356329800128627, + -0.023607757824699913 + ], + [ + 0.06691905702524668, + 0.04037818017183699, + 0.996941042576171, + -0.007848618911950716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9924426866800199, + 0.09802958184373456, + -0.07380863593703954, + -0.010437741858271152 + ], + [ + -0.10074716624819852, + 0.9943297459455427, + -0.03403475900943657, + -0.024712430450440893 + ], + [ + 0.07005370902601624, + 0.041213558587133915, + 0.9966914870913081, + -0.00796130150995896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9921407990686295, + 0.0986029538101043, + -0.07703305993782235, + -0.010629128233513195 + ], + [ + -0.10149036919734743, + 0.9942379962631699, + -0.03450379322311597, + -0.02581685145986974 + ], + [ + 0.07318701922914884, + 0.04205073467277202, + 0.9964313302630707, + -0.008076124237027754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915052628197095, + 0.09974142140295178, + -0.08348031299257314, + -0.010891265861369737 + ], + [ + -0.10298104041423911, + 0.9940519590235185, + -0.03543456048416981, + -0.026782361098739445 + ], + [ + 0.07944947524068383, + 0.043730442691839184, + 0.9958792242365316, + -0.008257552828686296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9912814807890724, + 0.10268858289380926, + -0.08255955903398114, + -0.0111428622455182 + ], + [ + -0.10571684028627949, + 0.9938427575532469, + -0.03317413056650573, + -0.027857833256952742 + ], + [ + 0.07864461535610322, + 0.04161283698835687, + 0.9960338328958868, + -0.007983804871207955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9911662839351769, + 0.10416111539829119, + -0.08209664809915308, + -0.011336490685933861 + ], + [ + -0.10708510193321501, + 0.9937333198887086, + -0.032044810608250554, + -0.029016302357486756 + ], + [ + 0.07824435145162405, + 0.04055306378005932, + 0.9961090655565611, + -0.007870260371869072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9910488837120169, + 0.10563294235562884, + -0.08163204997093593, + -0.011533776645394608 + ], + [ + -0.10845359847776623, + 0.9936206581002455, + -0.030916092470724847, + -0.030174389049676953 + ], + [ + 0.07784553340037212, + 0.03949264850231419, + 0.9961829167597104, + -0.00775404476966559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9908074747725062, + 0.10857445948381894, + -0.0806977984998744, + -0.011803591733631276 + ], + [ + -0.11119127752590896, + 0.9933856637047779, + -0.0286604771065393, + -0.03124763482384079 + ], + [ + 0.07705224031192129, + 0.03736990625643484, + 0.9963264737872318, + -0.007466878769078388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9905572572751253, + 0.11151309401269595, + -0.07975681740952845, + -0.01208065612046332 + ], + [ + -0.11392983995531199, + 0.9931377775836223, + -0.02640731535049699, + -0.032319825786959765 + ], + [ + 0.07626474694993896, + 0.03524463930840023, + 0.9964645020133345, + -0.00717431439242336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9904288463828889, + 0.11298131773014045, + -0.07928380727879651, + -0.012292516282786096 + ], + [ + -0.11529944072360437, + 0.9930090011794104, + -0.025281664215278443, + -0.03347614127147129 + ], + [ + 0.07587317853816548, + 0.034181068161061055, + 0.9965314422324489, + -0.007047368357228982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9902982346450389, + 0.11444880571603537, + -0.0788091195807502, + -0.01250801849480494 + ], + [ + -0.11666924827848714, + 0.9928770031300297, + -0.02415663804555905, + -0.034632009976222 + ], + [ + 0.0754830640942226, + 0.033116876750451836, + 0.9965969995485854, + -0.006917739358964542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9900304104279416, + 0.11738155440762263, + -0.07785471798633535, + -0.012803210260418953 + ], + [ + -0.11940946499636718, + 0.9926033439136749, + -0.021908476000677555, + -0.035701604616860234 + ], + [ + 0.07470720244503097, + 0.03098664770899286, + 0.996723964579259, + -0.006611690460634931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906659300391902, + 0.11191695630664505, + -0.07781779970316983, + -0.012712261640754563 + ], + [ + -0.11400638462017301, + 0.9932152908778952, + -0.022933168821059283, + -0.03706969003821272 + ], + [ + 0.07472321811474221, + 0.031590835022115626, + 0.9967037974329094, + -0.00665312567713881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9909725412836403, + 0.10918339619243513, + -0.07779722628558007, + -0.01272985108577965 + ], + [ + -0.11130355774486671, + 0.9935098539099028, + -0.02344543062643592, + -0.03837477229526357 + ], + [ + 0.07473245918059389, + 0.031892886037636015, + 0.9966934851623199, + -0.006694340979176733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9912717170049804, + 0.10644902327234133, + -0.07777524355707768, + -0.012740571070261792 + ], + [ + -0.10859990066756885, + 0.9937968069487294, + -0.02395763079906057, + -0.03968025802269276 + ], + [ + 0.07474252230820419, + 0.03219490554225078, + 0.99668302053167, + -0.006736310030151336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9918477527729229, + 0.10097792276163173, + -0.07772705085135231, + -0.012615171935361694 + ], + [ + -0.10319017871358033, + 0.9943478743170913, + -0.024981830560257705, + -0.04104939049214126 + ], + [ + 0.07476511443422076, + 0.03279884076957613, + 0.9966616345118386, + -0.0067815099275101145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9923940197017679, + 0.09550382232844136, + -0.07767322306190828, + -0.012475956302770083 + ], + [ + -0.09777738443239774, + 0.9948684761063946, + -0.026005736738257464, + -0.04241849159697922 + ], + [ + 0.074790993800902, + 0.03340262220841285, + 0.9966396400283684, + -0.006828212550219607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9926559845879107, + 0.09276569952677947, + -0.07764419651920516, + -0.0124591448020974 + ], + [ + -0.09506988696815989, + 0.9951173473900741, + -0.026517569933992676, + -0.04372494279268013 + ], + [ + 0.07480516595574792, + 0.03370444947852071, + 0.9966284148225371, + -0.006873192213410909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9929105010619432, + 0.09002688961856868, + -0.07761376183723612, + -0.012435454497976301 + ], + [ + -0.09236168359230214, + 0.9953585963730692, + -0.02702931797565767, + -0.045031644579431894 + ], + [ + 0.07482015961568528, + 0.03400623136779194, + 0.9966170377548459, + -0.006918924232461694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933971810360683, + 0.08454729236455152, + -0.07754866899835186, + -0.01226174735629006 + ], + [ + -0.0869432420505889, + 0.9958182201070501, + -0.02805254292500754, + -0.04640091244078358 + ], + [ + 0.07485261098535978, + 0.034609649762020495, + 0.9965938283834718, + -0.006969382121584186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9928736899738579, + 0.08852137004009118, + -0.07978598124934543, + -0.01279405073756173 + ], + [ + -0.09106082057750294, + 0.9954297930001745, + -0.028765503009361905, + -0.04751091409016884 + ], + [ + 0.07687498106307063, + 0.03582588804000592, + 0.9963968802804922, + -0.007290143856183039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9926040515188304, + 0.09050683437813148, + -0.08090556123810626, + -0.013120413220331245 + ], + [ + -0.09311958616628854, + 0.9952290470381152, + -0.02911849247170074, + -0.04868723005015035 + ], + [ + 0.07788414203560727, + 0.03643702598257448, + 0.99629634324177, + -0.007474594688542683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9923291530953988, + 0.09249123439018023, + -0.08202574887161637, + -0.013451682156423814 + ], + [ + -0.09517832077322086, + 0.9950239476109319, + -0.029469152270596252, + -0.04986281014647629 + ], + [ + 0.07889194617803902, + 0.037050171952886485, + 0.9961944316178962, + -0.007660681297249958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9917635824606985, + 0.09645679749314547, + -0.08426792226041761, + -0.0140083499550192 + ], + [ + -0.09929565144633794, + 0.994600692927691, + -0.030163475124797633, + -0.05096844683689053 + ], + [ + 0.080903461659986, + 0.038282474386110994, + 0.9959864868793693, + -0.007989938106667989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9911769905956046, + 0.1004179715225746, + -0.08651245175772093, + -0.014574684775985593 + ], + [ + -0.10341272140920392, + 0.9941600383243895, + -0.03084845619460761, + -0.05207204664509324 + ], + [ + 0.08290948295932724, + 0.039522768047539895, + 0.9957730506703208, + -0.008322725178755578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9908758157432981, + 0.10239688521548597, + -0.08763558451462866, + -0.014925468670203501 + ], + [ + -0.1054711301296757, + 0.9939331890874497, + -0.031187438811504972, + -0.053244270743614104 + ], + [ + 0.0839104194020209, + 0.040145903011626766, + 0.9956642747368002, + -0.008515542629574786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9905693904915284, + 0.10437466874926145, + -0.0887592876533168, + -0.015281133451804452 + ], + [ + -0.10752943947994266, + 0.9937019935603258, + -0.031524080309562816, + -0.054415672374494295 + ], + [ + 0.08490996564815957, + 0.04077102546804978, + 0.9955541277177812, + -0.008710034682978957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9899407956051551, + 0.10832680154314868, + -0.09100838018591516, + -0.015871677540318836 + ], + [ + -0.1116457144844714, + 0.9932265687799424, + -0.03219033250643091, + -0.055514410143100525 + ], + [ + 0.08690486542124488, + 0.04202721900214161, + 0.9953297228702968, + -0.009051537537509105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9889819186883554, + 0.11391203212717806, + -0.09454529837150297, + -0.01670891082520401 + ], + [ + -0.11709647703235988, + 0.992702038368372, + -0.02882842496373776, + -0.056615347418592143 + ], + [ + 0.09057140594089166, + 0.03958171239267695, + 0.9951030642450832, + -0.008974751232680945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9884860621604115, + 0.11670657406359326, + -0.09630618092802905, + -0.01720582444123115 + ], + [ + -0.11981584406194197, + 0.9924250999484006, + -0.027140090348627605, + -0.05778468209141708 + ], + [ + 0.09240924426878326, + 0.038366607391666585, + 0.9949816757161541, + -0.008958517786233081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9879792689142849, + 0.11950235134992959, + -0.09806198150880467, + -0.017709803165656804 + ], + [ + -0.12253115381278223, + 0.9921383842070265, + -0.025446864804509597, + -0.058952701113952684 + ], + [ + 0.09425009570766212, + 0.03715662262516159, + 0.9948549164849053, + -0.008939572992232409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9869328991164705, + 0.12509746463568455, + -0.10155824429007285, + -0.018582592878102724 + ], + [ + -0.12794945845142697, + 0.9915356359970422, + -0.022045830216337256, + -0.06004522701278786 + ], + [ + 0.0979407408770478, + 0.03475207748703176, + 0.9945852926656367, + -0.008850190287784295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9858428644322171, + 0.13069707715610643, + -0.10503390248358821, + -0.019469668448059724 + ], + [ + -0.13335110543669462, + 0.9908938254995724, + -0.018625500412995155, + -0.06113365816455219 + ], + [ + 0.10164314697456345, + 0.032368203683147065, + 0.9942942069948077, + -0.008756165696384599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9852814906173104, + 0.13349847843020995, + -0.10676394758414298, + -0.02000199908534906 + ], + [ + -0.13604559332653826, + 0.9905582823812674, + -0.016908156088214162, + -0.062295392062053756 + ], + [ + 0.10349869942835527, + 0.031184057829153965, + 0.9941406207141659, + -0.008726929581468435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9847092222997026, + 0.1363008938457763, + -0.1084887729433676, + -0.02054140294804923 + ], + [ + -0.13873581013474226, + 0.990212986534115, + -0.015186055624997877, + -0.0634556166016513 + ], + [ + 0.10535711890599463, + 0.03000512682911389, + 0.9939816748108574, + -0.008695091623126561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9835320324549511, + 0.14190861941774124, + -0.11192267361881451, + -0.021464049265078437 + ], + [ + -0.14410328880448225, + 0.9894931549767297, + -0.01172767709010304, + -0.06453452617802735 + ], + [ + 0.10908246096767797, + 0.027662971444666243, + 0.993647712582325, + -0.008589114106000493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.98324285131895, + 0.1424704993133738, + -0.11373500848718203, + -0.021717860776958867 + ], + [ + -0.14500326338787273, + 0.9893282246181799, + -0.014272966780161746, + -0.06570408069593567 + ], + [ + 0.11048777731970456, + 0.03052573994579568, + 0.9934085918008326, + -0.008991016114019855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9830970944292717, + 0.14274945053551838, + -0.11464160368963416, + -0.021934368762228283 + ], + [ + -0.14545456938042597, + 0.9892428027422634, + -0.015544949951223894, + -0.06690676757182148 + ], + [ + 0.11118934828066218, + 0.031957340227853855, + 0.9932852849179247, + -0.009214639828405344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9829505605067871, + 0.14302707495248826, + -0.11554848086378583, + -0.02215147627367143 + ], + [ + -0.14590675291100916, + 0.9891554100357194, + -0.01681648750583139, + -0.06810909554425873 + ], + [ + 0.11189019194888841, + 0.03338907946624721, + 0.9931594808076081, + -0.009441852791525701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9826551631207033, + 0.1435783404278456, + -0.11736307150126021, + -0.022407996823058274 + ], + [ + -0.14681374778466735, + 0.988974713063523, + -0.019358212271347153, + -0.06927642689612273 + ], + [ + 0.11328968997064257, + 0.03625295961584573, + 0.9929003822466017, + -0.009861731190086456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9823566622959113, + 0.1441242898885663, + -0.11917876114037061, + -0.022665490190017474 + ], + [ + -0.14772423838241883, + 0.9887861356194259, + -0.021898114100005747, + -0.0704427056195738 + ], + [ + 0.1146862565313355, + 0.039117349998678136, + 0.9926312988677668, + -0.01028880819430529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9822062490827613, + 0.14439526930046429, + -0.12008701206383353, + -0.022884842354322494 + ], + [ + -0.14818079155942285, + 0.9886888923426087, + -0.02316737298807642, + -0.07164337161626179 + ], + [ + 0.11538343588052745, + 0.040549727027344634, + 0.9924930137600024, + -0.01053038962052932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9820550612005623, + 0.14466491754019273, + -0.12099553051021829, + -0.02310476713734891 + ], + [ + -0.1486382150407331, + 0.9885896797049024, + -0.02443616603445168, + -0.07284363941758773 + ], + [ + 0.11607987680844904, + 0.04198222021341596, + 0.9923522335270313, + -0.010775561136720646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9817503630357122, + 0.14520021764475044, + -0.12281336032844473, + -0.0233648140876832 + ], + [ + -0.14955566805908033, + 0.988385347405046, + -0.026972341136963413, + -0.07400746929546441 + ], + [ + 0.1174705360107354, + 0.04484753985363801, + 0.992063189186267, + -0.011220615521213237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.981546520123677, + 0.14602037748722466, + -0.12346853117935974, + -0.023474699837934782 + ], + [ + -0.15050485323775784, + 0.9882194798369413, + -0.027758761187886633, + -0.07519860995659833 + ], + [ + 0.11796066287106513, + 0.04582912861154538, + 0.9919601670358167, + -0.011345269986524322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9814441759006726, + 0.14643016938909084, + -0.12379634519375732, + -0.023621906887195083 + ], + [ + -0.1509795452326914, + 0.9881359508129903, + -0.02815172520889853, + -0.07641156102031163 + ], + [ + 0.1182053573742724, + 0.046320062646652366, + 0.9919082343061937, + -0.011437478932142114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9813415498995688, + 0.1468397690113235, + -0.12412431138746834, + -0.02377012231279074 + ], + [ + -0.15145430318910752, + 0.9880520250167354, + -0.028544524971180284, + -0.07762427003178457 + ], + [ + 0.11844980576688986, + 0.04681108946638183, + 0.9918560205073902, + -0.011530922983559804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9811354527635655, + 0.14765839061729225, + -0.12478069967244548, + -0.023885002351556855 + ], + [ + -0.15240401605945259, + 0.9878829832713623, + -0.029329630952743366, + -0.07881410223148491 + ], + [ + 0.1189379637432221, + 0.04779342050099725, + 0.9917507498043203, + -0.011661775937249158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.980928229118044, + 0.14847624070687931, + -0.1254376947527788, + -0.02400186240104997 + ], + [ + -0.15335398999460287, + 0.987712354930853, + -0.030114077599759113, + -0.0800033749829913 + ], + [ + 0.11942513584699715, + 0.048776119797518745, + 0.9916443551321333, + -0.011795116481114448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9808241949805585, + 0.14888487593398786, + -0.12576641944040745, + -0.024154087029802873 + ], + [ + -0.15382907428190606, + 0.9876264458914045, + -0.03050605319415843, + -0.08121506624409619 + ], + [ + 0.11966835189936932, + 0.04926760694446233, + 0.9915907363724485, + -0.011893512233175944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.980719879367582, + 0.14929331768333942, + -0.1260952953457714, + -0.024307316075472617 + ], + [ + -0.15430422313985853, + 0.9875401403283376, + -0.030897863380698103, + -0.08242650754113133 + ], + [ + 0.11991132112707528, + 0.049759185437354546, + 0.9915368366985519, + -0.011993144810057739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9805104039189548, + 0.15010961995143657, + -0.12675350016754416, + -0.02442914741770015 + ], + [ + -0.15525471364001364, + 0.9873663398000426, + -0.031680986765321086, + -0.08361442638578133 + ], + [ + 0.12039651863424332, + 0.050742615501197526, + 0.9914281947134912, + -0.012132693451514366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9804875182543071, + 0.15088422967262863, + -0.1260086337661318, + -0.02473300937881819 + ], + [ + -0.1561073079898553, + 0.9872019316943866, + -0.03260144860327559, + -0.08481040674287144 + ], + [ + 0.11947692220537881, + 0.05163618203323145, + 0.9914933029352043, + -0.012322277738567918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9804755700322048, + 0.1512717482577035, + -0.12563643877904626, + -0.024980231034588386 + ], + [ + -0.15653324566654064, + 0.9871191685730196, + -0.03306191217713757, + -0.08602514090475356 + ], + [ + 0.11901680373426898, + 0.05208267672430339, + 0.9915252872287776, + -0.012450432760848094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9804632848922934, + 0.15165940904129196, + -0.12526440287431878, + -0.025228434817931918 + ], + [ + -0.15695894336498764, + 0.9870360327999859, + -0.03352253051623319, + -0.08723963322273849 + ], + [ + 0.11855647209646615, + 0.052528978704247345, + 0.9915568916206112, + -0.012579685953187699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9804377038862865, + 0.15243515635012317, + -0.12452080913124568, + -0.025537246872692466 + ], + [ + -0.15780961788971576, + 0.9868686434822264, + -0.03444423047554557, + -0.08843430095053251 + ], + [ + 0.11763517033476216, + 0.05342100354789406, + 0.9916189606296602, + -0.012774707608343408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9804107752926274, + 0.15321146989056786, + -0.12377785417464977, + -0.02584805279551789 + ], + [ + -0.15865932969046095, + 0.9866997641097764, + -0.03536654645120318, + -0.08962840678726813 + ], + [ + 0.11671301894939935, + 0.05431225459952039, + 0.9916795098256462, + -0.01297188484812627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9803968056688468, + 0.1535998384633809, + -0.12340661675268905, + -0.026100203968290357 + ], + [ + -0.1590838239844263, + 0.9866147657691493, + -0.035827934810412354, + -0.09084188149018481 + ], + [ + 0.11625162528246158, + 0.05475758933983828, + 0.991709214451936, + -0.013105504339371146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9803824991706256, + 0.15398834795282454, + -0.12303553964086143, + -0.026353339978012126 + ], + [ + -0.15950807689576482, + 0.9865293950545869, + -0.03628947641183969, + -0.09205510692532377 + ], + [ + 0.11579001997138148, + 0.05520272989617932, + 0.9917385390752124, + -0.013240217991799103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9803528755825583, + 0.15476578882584868, + -0.12229386716480059, + -0.02666911129937554 + ], + [ + -0.16035585763629367, + 0.9863575366918893, + -0.03721301832473656, + -0.09324785750485343 + ], + [ + 0.11486617543357922, + 0.0560924274766325, + 0.9917960482483489, + -0.013442809233843608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_037/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_037/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..abaac1034a82c0d74fe6dfc72151e44b1bf2e18a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_037/pan_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999773127682, + 0.0001735146220590681, + 0.0001235602642212247, + -1.0666557460709146e-05 + ], + [ + -0.0001734979015274917, + 0.9999999757933861, + -0.0001353207494937281, + 4.682161014083724e-05 + ], + [ + -0.00012358374135895423, + 0.0001352993089771203, + 0.9999999832105777, + 8.189826718238941e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999784851607169, + 0.006220420875908165, + -0.0020822055144640137, + -0.0008008494391353606 + ], + [ + -0.006238457753454368, + 0.9999420741053248, + -0.008770979352371235, + 0.0002292858101172538 + ], + [ + 0.0020275257177810413, + 0.008783780397296105, + 0.9999593663451509, + -0.0008672114325575573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.99994552656137, + 0.00924720457806888, + -0.004840776528195546, + -0.0011959408799726865 + ], + [ + -0.009309746961959338, + 0.9998713627839309, + -0.013060876544444844, + 0.00032051791010546206 + ], + [ + 0.004719377226803963, + 0.013105231478164838, + 0.9999029854873397, + -0.0013417662824275307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998956706461731, + 0.01227609511635031, + -0.007612181798531638, + -0.0015910323208100123 + ], + [ + -0.012406535069040313, + 0.9997728135363086, + -0.017332028192743872, + 0.0004117500100936703 + ], + [ + 0.0073976827872144655, + 0.017424660753877406, + 0.9998208116892707, + -0.001816321132297504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999782584337382, + 0.018339855703439188, + -0.0099213783539806, + -0.0023812152024846635 + ], + [ + -0.018591331854439324, + 0.9994922131386782, + -0.025878142418365054, + 0.0005942142100700869 + ], + [ + 0.009441739010580383, + 0.02605696774231614, + 0.9996158702204223, + -0.002765430832037451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996265584354959, + 0.024411020087011577, + -0.012281928542263535, + -0.003171398084159315 + ], + [ + -0.024820674263843618, + 0.9991003044974281, + -0.03438772574966884, + 0.0007766784100465034 + ], + [ + 0.011431439082369339, + 0.03467972969124449, + 0.999333096894648, + -0.0037145405317773974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995088917064773, + 0.02744916517557093, + -0.015116836006713858, + -0.0035664895249966407 + ], + [ + -0.028014951525813393, + 0.9988626228818087, + -0.038582678764961735, + 0.0008679105100347117 + ], + [ + 0.014040580141004943, + 0.03898722791938569, + 0.999141060195439, + -0.004189095381647371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993736630202025, + 0.030488904883516764, + -0.017964084741144977, + -0.003961580965833967 + ], + [ + -0.03123379825831452, + 0.9985971317266532, + -0.04275767011496798, + 0.0009591426100229199 + ], + [ + 0.016635248959425863, + 0.04329197600370517, + 0.9989239577193816, + -0.0046636502315173444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999122224720996, + 0.03657282595293961, + -0.02042568163818191, + -0.004751763847508618 + ], + [ + -0.03757721826063662, + 0.9979827514645815, + -0.051170112829429265, + 0.0011416068099993366 + ], + [ + 0.01851304233130936, + 0.05189273726640396, + 0.9984810519397149, + -0.005612759931257291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9984281173687908, + 0.04588336177054196, + -0.032187133454931, + -0.005171577168328893 + ], + [ + -0.047375214028467144, + 0.9977600016513041, + -0.047228891587105956, + 0.0011861652143907461 + ], + [ + 0.02994801401042982, + 0.04867952564911911, + 0.9983653741188182, + -0.0057564326012907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9979329088463104, + 0.05054728793153865, + -0.0396847719447629, + -0.00538148382873903 + ], + [ + -0.05232515911358436, + 0.9976103640064985, + -0.045118060137371796, + 0.0012084444165864508 + ], + [ + 0.03730934420865359, + 0.04710130900078622, + 0.9981931073320095, + -0.005828268936307404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9973595924374671, + 0.05521671925200701, + -0.047169452911974705, + -0.005591390489149168 + ], + [ + -0.05725243265384535, + 0.997435226073747, + -0.042954961790581066, + 0.0012307236187821555 + ], + [ + 0.04467664186335925, + 0.04554210911078245, + 0.9979628820600268, + -0.005900105271324108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9961770516446687, + 0.06457129492669844, + -0.058837315098710576, + -0.006011203809969443 + ], + [ + -0.06691046390704776, + 0.9970084805283479, + -0.038692112559267994, + 0.001275282023173565 + ], + [ + 0.056162902313531535, + 0.04248102665949511, + 0.9975174638960845, + -0.006043777941357516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9947704345545516, + 0.07394548167869464, + -0.07045458306919537, + -0.006431017130789717 + ], + [ + -0.07650087276360305, + 0.9964798383299829, + -0.03428626938379709, + 0.0013198404275649746 + ], + [ + 0.0676712568418478, + 0.03949680418916347, + 0.9969255756857116, + -0.0061874506113909255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9938572229687483, + 0.07863942605613394, + -0.07786951279165522, + -0.006640923791199856 + ], + [ + -0.0813221689891285, + 0.9961773336839973, + -0.03189709524620649, + 0.0013421196297606793 + ], + [ + 0.07506347436504349, + 0.038033676180508534, + 0.9964531671345346, + -0.0062592869464076295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9928666958948712, + 0.08333766902289143, + -0.08526756185462467, + -0.006850830451609993 + ], + [ + -0.08611780008311808, + 0.9958493902993719, + -0.029457025464449716, + 0.001364398831956384 + ], + [ + 0.08245876964668676, + 0.03658995438915075, + 0.9959225504757658, + -0.0063311232814243345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9909763653960776, + 0.09274624338168322, + -0.09676764730510812, + -0.0072706437724302676 + ], + [ + -0.09554943809370903, + 0.995117244747475, + -0.024738109995938562, + 0.0014089572363477935 + ], + [ + 0.09400078779646841, + 0.03376097665619686, + 0.9949995217832337, + -0.006474795951457743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9898726045349646, + 0.09393932936790575, + -0.10643133555994624, + -0.0073753736802387535 + ], + [ + -0.09714358019833098, + 0.9949482130046254, + -0.025321498082718507, + 0.0016806639756175139 + ], + [ + 0.10351498257458287, + 0.035404178239450794, + 0.9939975817605259, + -0.006553269884203306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9891017410202384, + 0.09453181824905278, + -0.1128781699411452, + -0.0074277386341429965 + ], + [ + -0.0979862603018501, + 0.9948624153946777, + -0.025445377323325497, + 0.001816517345252374 + ], + [ + 0.10989285100857141, + 0.036228576753667655, + 0.9932829664922339, + -0.006592506850576087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9882887164552452, + 0.09512159561647583, + -0.11932013650101092, + -0.007480103588047239 + ], + [ + -0.09883211358894396, + 0.9947757645580974, + -0.0255615252165311, + 0.0019523707148872342 + ], + [ + 0.11626532694998243, + 0.037054828231000106, + 0.9925267318586362, + -0.006631743816948869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9869636157190085, + 0.09629298967336085, + -0.12895922373613752, + -0.0075848334958557246 + ], + [ + -0.1004482346589893, + 0.9945999070589723, + -0.026099368424850923, + 0.0022240774541569543 + ], + [ + 0.1257496457281442, + 0.03871285339586204, + 0.9913063812874388, + -0.006710217749694432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9855438213963219, + 0.09745345956689898, + -0.13858643269085902, + -0.0076895634036642105 + ], + [ + -0.10207407149224246, + 0.9944206483095842, + -0.0266168770621784, + 0.002495784193426675 + ], + [ + 0.13521930349078043, + 0.04037818017183699, + 0.9899925972094333, + -0.006788691682439995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984562504294164, + 0.09802958184373456, + -0.14500646958514302, + -0.007741928357568453 + ], + [ + -0.10293439035639365, + 0.9943297459455427, + -0.026699580705137473, + 0.002631637563061535 + ], + [ + 0.14156689733112765, + 0.041213558587133915, + 0.9890704000063003, + -0.0068279286488127765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835392030690735, + 0.09860295381010432, + -0.15142025467609962, + -0.007794293311472696 + ], + [ + -0.10379758158563054, + 0.9942379962631701, + -0.026774406502699646, + 0.002767490932696395 + ], + [ + 0.14790773503514548, + 0.042050734672772025, + 0.9881067946483588, + -0.006867165615185558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9818989931241145, + 0.09974142140295181, + -0.1610155773779967, + -0.007899023219281182 + ], + [ + -0.10544374780792837, + 0.9940519590235187, + -0.027245528251869974, + 0.003039197671966115 + ], + [ + 0.15734034241118472, + 0.04373044269183919, + 0.9865757269626634, + -0.006945639547931121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9812190256143326, + 0.10268858289380926, + -0.1632920044451691, + -0.00793384403008666 + ], + [ + -0.10807426833787769, + 0.9938427575532469, + -0.02442387729642255, + 0.0031997529165862233 + ], + [ + 0.15977852263584194, + 0.04161283698835687, + 0.9862754156431602, + -0.006683403715321803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9806039597526092, + 0.10416111539829119, + -0.1660311300825465, + -0.007951254435489398 + ], + [ + -0.10942095630491439, + 0.9937333198887086, + -0.022828562466430422, + 0.0032800305388962776 + ], + [ + 0.16261281757235999, + 0.04055306378005932, + 0.9858562372776414, + -0.006552285799017145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9799794293708313, + 0.10563294235562884, + -0.1687661088587171, + -0.007968664840892136 + ], + [ + -0.1107586338832133, + 0.9936206581002455, + -0.021225287200866357, + 0.003360308161206332 + ], + [ + 0.16544740260984536, + 0.03949264850231419, + 0.9854275659245221, + -0.006421167882712486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9792669864709573, + 0.10857445948381894, + -0.1710197531160846, + -0.008003485651697614 + ], + [ + -0.1133473021105356, + 0.9933856637047779, + -0.01836606245446035, + 0.00352086340582644 + ], + [ + 0.16789448565200987, + 0.03736990625643484, + 0.9850964073602302, + -0.006158932050103169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9785421587588012, + 0.11151309401269595, + -0.17326301796800297, + -0.008038306462503092 + ], + [ + -0.11591952784980145, + 0.9931377775836223, + -0.015492507845494299, + 0.0036814186504465483 + ], + [ + 0.17034643111830666, + 0.03524463930840023, + 0.9847537300286183, + -0.005896696217493851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9778884887119069, + 0.11298131773014045, + -0.17598103729863668, + -0.00805571686790583 + ], + [ + -0.11722227883113116, + 0.9930090011794104, + -0.013858604630574756, + 0.0037616962727566026 + ], + [ + 0.17318499066137238, + 0.034181068161061055, + 0.9842959989703247, + -0.005765578301189192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9772254899368372, + 0.11444880571603537, + -0.17869474723080683, + -0.008073127273308568 + ], + [ + -0.11851583296568154, + 0.9928770031300297, + -0.012216955102729167, + 0.0038419738950666565 + ], + [ + 0.17602368918460784, + 0.033116876750451836, + 0.9838287113721251, + -0.005634460384884533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.976468886221778, + 0.11738155440762263, + -0.18091457908540964, + -0.008107948084114046 + ], + [ + -0.12104538678198568, + 0.9926033439136749, + -0.009306771201141251, + 0.004002529139686765 + ], + [ + 0.17848397289280654, + 0.03098664770899286, + 0.9834547773457399, + -0.005372224552275216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9765074136408352, + 0.11191695630664505, + -0.18414088626794245, + -0.008095687193105452 + ], + [ + -0.11581403408887771, + 0.9932152908778952, + -0.010511682757689137, + 0.00390044071050046 + ], + [ + 0.18171510837722626, + 0.031590835022115626, + 0.9828436490765244, + -0.00535000373247654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9762065859482392, + 0.10918339619243515, + -0.18734910607518035, + -0.008089556747601156 + ], + [ + -0.11321857859608546, + 0.993509853909903, + -0.01094183003916266, + 0.003849396495907307 + ], + [ + 0.1849385168426671, + 0.03189288603763602, + 0.9822324515145209, + -0.005338893322577202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9758879891276934, + 0.10644902327234133, + -0.19055507896844903, + -0.00808342630209686 + ], + [ + -0.11062637503174944, + 0.9937968069487294, + -0.011389102064897122, + 0.0037983522813141548 + ], + [ + 0.18816067023595034, + 0.03219490554225078, + 0.9816104371050075, + -0.005327782912677864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.975836882111277, + 0.10097792276163173, + -0.19376748598794366, + -0.008071165411088266 + ], + [ + -0.10541121089578366, + 0.9943478743170913, + -0.012679962877181155, + 0.003696263852127849 + ], + [ + 0.1913918914918462, + 0.03279884076957613, + 0.9809655345196107, + -0.0053055620928791885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.975746324523072, + 0.09550382232844136, + -0.19697240949019731, + -0.00805890452007967 + ], + [ + -0.10020265107755344, + 0.9948684761063946, + -0.014005140726552148, + 0.003594175422941544 + ], + [ + 0.19462409639288386, + 0.03340262220841285, + 0.9803089951300333, + -0.005283341273080513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9753600525028119, + 0.09276569952677949, + -0.20016816173662527, + -0.008052774074575374 + ], + [ + -0.09762484118547865, + 0.9951173473900743, + -0.014520857648670863, + 0.0035431312083483916 + ], + [ + 0.1978437726217901, + 0.033704449478520714, + 0.9796539448806031, + -0.005272230863181175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9749561024046995, + 0.09002688961856868, + -0.20336115049203368, + -0.008046643629071077 + ], + [ + -0.09505079681925654, + 0.9953585963730692, + -0.015053592603035184, + 0.003492086993755239 + ], + [ + 0.20106204119092674, + 0.03400623136779194, + 0.9789880652083041, + -0.005261120453281837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.974776397965351, + 0.08454729236455154, + -0.20654958078756575, + -0.008034382738062484 + ], + [ + -0.08986102217232655, + 0.9958182201070503, + -0.01646417920733733, + 0.0033899985645689337 + ], + [ + 0.20429383413074598, + 0.0346096497620205, + 0.9782976037379986, + -0.005238899633483161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9732771763531357, + 0.08852137004009118, + -0.2118855942160597, + -0.008257330523007056 + ], + [ + -0.0940903638740201, + 0.9954297930001745, + -0.016325765944796684, + 0.0035048628010901166 + ], + [ + 0.209472054021824, + 0.03582588804000592, + 0.9771581061066951, + -0.005454067094132735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9721580802343036, + 0.09050683437813148, + -0.21614157389545216, + -0.008368804415479342 + ], + [ + -0.09623099989091578, + 0.9952290470381152, + -0.01608535332530488, + 0.003562294919350708 + ], + [ + 0.21365453820396207, + 0.03643702598257448, + 0.9762295229311584, + -0.005561650824457523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9710162631618343, + 0.09249123439018023, + -0.22039235067535437, + -0.008480278307951627 + ], + [ + -0.0983706902697233, + 0.9950239476109319, + -0.01582880212195099, + 0.0036197270376112996 + ], + [ + 0.21783164134506677, + 0.037050171952886485, + 0.9752828619365647, + -0.00566923455478231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9694083796645784, + 0.09645679749314547, + -0.22570662297208527, + -0.008703226092896199 + ], + [ + -0.10259631529305385, + 0.994600692927691, + -0.015603131610199331, + 0.003734591274132483 + ], + [ + 0.22298293550042117, + 0.038282474386110994, + 0.9740703581520648, + -0.005884402015431884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9677549832220476, + 0.1004179715225746, + -0.23101195519752957, + -0.008926173877840771 + ], + [ + -0.10681984346316674, + 0.9941600383243895, + -0.015340770559290746, + 0.003849455510653666 + ], + [ + 0.22812236517141093, + 0.039522768047539895, + 0.9728299632075801, + -0.006099569476081458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9665276163231202, + 0.10239688521548597, + -0.23524294842335705, + -0.009037647770313056 + ], + [ + -0.10895544033194084, + 0.9939331890874497, + -0.015017578117833498, + 0.003906887628914257 + ], + [ + 0.23227802071401527, + 0.040145903011626766, + 0.9718205737504022, + -0.006207153206406245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9652776507570316, + 0.10437466874926145, + -0.23946813038997136, + -0.009149121662785342 + ], + [ + -0.11108958667069546, + 0.9937019935603258, + -0.01467827399827577, + 0.003964319747174849 + ], + [ + 0.2364279185762976, + 0.04077102546804978, + 0.9707932647067363, + -0.006314736936731033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9635161344301245, + 0.10832680154314868, + -0.24474877478807092, + -0.009372069447729914 + ], + [ + -0.11530684791883677, + 0.9932265687799424, + -0.014328778477069834, + 0.004079183983696032 + ], + [ + 0.24153879505340925, + 0.04202721900214161, + 0.969480646195216, + -0.006529904397380607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9611987375661294, + 0.11391203212717808, + -0.2512390014268024, + -0.009731798857414353 + ], + [ + -0.12019717487412841, + 0.9927020383683722, + -0.00976228311195908, + 0.004187652431470649 + ], + [ + 0.24829342732653692, + 0.03958171239267696, + 0.96787585050486, + -0.006550371348629482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9595953411563131, + 0.11670657406359326, + -0.25603975629077286, + -0.009911663562256572 + ], + [ + -0.12263650148714829, + 0.9924250999484006, + -0.007260130536012349, + 0.004241886655357957 + ], + [ + 0.2532529757655219, + 0.038366607391666585, + 0.9666389883007833, + -0.00656060482425392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9579608853956116, + 0.11950235134992959, + -0.26082586158947835, + -0.010091528267098792 + ], + [ + -0.12505589960586222, + 0.9921383842070265, + -0.004737990801932229, + 0.004296120879245266 + ], + [ + 0.25820914783528537, + 0.03715662262516159, + 0.9653742390230159, + -0.006570838299878356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9554788603256902, + 0.12509746463568455, + -0.26722793980503545, + -0.01045125767678323 + ], + [ + -0.12983481443908015, + 0.9915356359970422, + -5.922424017628926e-05, + 0.004404589327019882 + ], + [ + 0.26495861644847407, + 0.03475207748703176, + 0.9636333455625358, + -0.006591305251127231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9529257562510045, + 0.13069707715610643, + -0.273588700600558, + -0.01081098708646767 + ], + [ + -0.13456465751952007, + 0.9908938254995724, + 0.00466685477352776, + 0.004513057774794499 + ], + [ + 0.2717072984299562, + 0.032368203683147065, + 0.9618354554549446, + -0.0066117722023761065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9511685715944929, + 0.13349847843020995, + -0.27831008725468576, + -0.010990851791309889 + ], + [ + -0.1368992874830546, + 0.9905582823812674, + 0.0072714711376186, + 0.004567291998681808 + ], + [ + 0.2766530923332035, + 0.031184057829153965, + 0.9604637531108523, + -0.006622005678000543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9493809157430462, + 0.13630089384577632, + -0.28301580019450856, + -0.011170716496152108 + ], + [ + -0.13921323269328303, + 0.9902129865341153, + 0.009895309104551817, + 0.004621526222569117 + ], + [ + 0.2815946602227773, + 0.030005126829113896, + 0.9590641999876692, + -0.006632239153624981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9466664104162706, + 0.14190861941774124, + -0.289282994876166, + -0.011530445905836547 + ], + [ + -0.14382746531043022, + 0.9894931549767297, + 0.014729442507262339, + 0.004729994670343733 + ], + [ + 0.2883337781321332, + 0.027662971444666243, + 0.9571302901898474, + -0.006652706104873856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9450944003514568, + 0.1424704993133738, + -0.2941066664489572, + -0.011566837700880983 + ], + [ + -0.14513488591562143, + 0.9893282246181799, + 0.01286580211646126, + 0.004785555308109658 + ], + [ + 0.29280102341791736, + 0.03052573994579568, + 0.9556860048604783, + -0.006816057142881912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.943812695827799, + 0.14274945053551838, + -0.29806071456344296, + -0.0115850335984032 + ], + [ + -0.1457751878626538, + 0.9892428027422634, + 0.012176691925116587, + 0.0048133356269926195 + ], + [ + 0.29659263274375275, + 0.031957340227853855, + 0.9544692444535291, + -0.00689773266188594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.942514420033365, + 0.14302707495248826, + -0.30200964199790914, + -0.011603229495925418 + ], + [ + -0.1464223227062689, + 0.9891554100357194, + 0.011492528458495016, + 0.004841115945875582 + ], + [ + 0.30037821399440934, + 0.03338907946624721, + 0.9532355941371082, + -0.006979408180889969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9408773202890385, + 0.1435783404278456, + -0.30681448519537696, + -0.011639621290969855 + ], + [ + -0.14776936265370783, + 0.988974713063523, + 0.009655691681046918, + 0.004896676583641506 + ], + [ + 0.3048181156470781, + 0.03625295961584573, + 0.951720357716728, + -0.007142759218898025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9392156137015445, + 0.1441242898885663, + -0.3116122912263697, + -0.011676013086014292 + ], + [ + -0.14913304269510577, + 0.9887861356194259, + 0.007830299055740345, + 0.0049522372214074305 + ], + [ + 0.3092464495442609, + 0.039117349998678136, + 0.950177071062731, + -0.007306110256906082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9378604923158056, + 0.14439526930046429, + -0.3155435043806181, + -0.01169420898353651 + ], + [ + -0.14980957011415688, + 0.9886888923426087, + 0.007167067779593538, + 0.004980017540290393 + ], + [ + 0.3130092485141075, + 0.040549727027344634, + 0.948884044540028, + -0.0073877857759101105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9364888900002587, + 0.14466491754019273, + -0.31946927949205506, + -0.011712404881058727 + ], + [ + -0.15049278444243847, + 0.9885896797049024, + 0.006508994678155061, + 0.005007797859173355 + ], + [ + 0.3167656558669915, + 0.04198222021341596, + 0.9475742780643146, + -0.007469461294914138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.934762428722027, + 0.14520021764475047, + -0.3242469716830286, + -0.011748796676103164 + ], + [ + -0.15189538293923038, + 0.9883853474050462, + 0.004711441048248462, + 0.005063358496939279 + ], + [ + 0.3211650580175904, + 0.04484753985363802, + 0.9459607305156142, + -0.007632812332922195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9333587667743238, + 0.14602037748722466, + -0.32790160390580864, + -0.011610544167097779 + ], + [ + -0.15297296625030773, + 0.9882194798369413, + 0.004640179671882639, + 0.005094222780153153 + ], + [ + 0.32471631323679384, + 0.04582912861154538, + 0.9447004852801817, + -0.00762165328683626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9321104955498349, + 0.14643016938909084, + -0.3312525163353831, + -0.011541417912595086 + ], + [ + -0.1535048409474734, + 0.9881359508129903, + 0.004858653784591816, + 0.00510965492176009 + ], + [ + 0.32803397368494014, + 0.046320062646652366, + 0.9435296306448877, + -0.0076160737637932935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9308499819075611, + 0.14683976901132353, + -0.33459885448009935, + -0.011472291658092394 + ], + [ + -0.1540369467430116, + 0.9880520250167356, + 0.005080836389715457, + 0.005125087063367027 + ], + [ + 0.3313471445791923, + 0.046811089466381836, + 0.9423469592895106, + -0.007610494240750326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9294041488736893, + 0.14765839061729225, + -0.3382379750067769, + -0.01133403914908701 + ], + [ + -0.15511906099964082, + 0.9878829832713623, + 0.005028745118189832, + 0.005155951346580901 + ], + [ + 0.3348820762163356, + 0.04779342050099725, + 0.9410471741553939, + -0.007599335194664391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9279432364865742, + 0.14847624070687931, + -0.34187154869098907, + -0.011195786640081626 + ], + [ + -0.15620326084923117, + 0.987712354930853, + 0.004984497669386649, + 0.0051868156297947745 + ], + [ + 0.33841083191719723, + 0.048776119797518745, + 0.9397334723093612, + -0.007588176148578457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9266435356680476, + 0.14888487593398786, + -0.34520291354903276, + -0.011126660385578933 + ], + [ + -0.15673779474594854, + 0.9876264458914045, + 0.005221788399571563, + 0.005202247771401712 + ], + [ + 0.3417089719378127, + 0.04926760694446233, + 0.9385135488649959, + -0.007582596625535489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9253316618358276, + 0.14929331768333942, + -0.34852951223568945, + -0.011057534131076241 + ], + [ + -0.1572724672329979, + 0.9875401403283376, + 0.0054628097837232555, + 0.005217679913008649 + ], + [ + 0.3450024444182848, + 0.049759185437354546, + 0.9372818875930654, + -0.007577017102492522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.923828806441146, + 0.15010961995143657, + -0.352146898875403, + -0.010919281622070856 + ], + [ + -0.15836079302624864, + 0.9873663398000426, + 0.005437854536922282, + 0.0052485441962225226 + ], + [ + 0.348514268892431, + 0.050742615501197526, + 0.9359289456740144, + -0.007565858056406588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9228254828969176, + 0.15088422967262863, + -0.3544391024593198, + -0.010964823421190826 + ], + [ + -0.1593883364561585, + 0.9872019316943866, + 0.005263483695233006, + 0.005271769524241354 + ], + [ + 0.35069714329861484, + 0.05163618203323145, + 0.9350642856976314, + -0.007610476128035549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9217382987891743, + 0.15127174825770354, + -0.3570929384968245, + -0.01098759432075081 + ], + [ + -0.15989418886708986, + 0.9871191685730198, + 0.005440165645063301, + 0.00528338218825077 + ], + [ + 0.3533162279202221, + 0.0520826767243034, + 0.9340530166288514, + -0.00763278516385003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9206432618094338, + 0.151659409041292, + -0.3597435310525162, + -0.011010365220310793 + ], + [ + -0.16040039102807743, + 0.9870360327999861, + 0.005620010009336877, + 0.005294994852260185 + ], + [ + 0.3559321551123563, + 0.05252897870424736, + 0.9330343012737328, + -0.007655094199664511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9196193204302162, + 0.1524351563501232, + -0.3620273865330926, + -0.011055907019430763 + ], + [ + -0.16143252026512966, + 0.9868686434822266, + 0.005460944277238476, + 0.005318220180279016 + ], + [ + 0.3581059157460488, + 0.05342100354789407, + 0.9321514627396237, + -0.007699712271293472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9185888246378024, + 0.1532114698905679, + -0.36430868332296523, + -0.011101448818550732 + ], + [ + -0.1624666183491776, + 0.9866997641097767, + 0.005307864720785928, + 0.005341445508297848 + ], + [ + 0.36027651765376495, + 0.0543122545995204, + 0.9312631259894238, + -0.007744330342922433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9174719280400825, + 0.1535998384633809, + -0.3669500659251028, + -0.011124219718110716 + ], + [ + -0.1629756154580075, + 0.9866147657691493, + 0.005500248391732056, + 0.005353058172307263 + ], + [ + 0.36288319060614765, + 0.05475758933983828, + 0.9302243795908556, + -0.007766639378736914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9163472134901128, + 0.15398834795282457, + -0.3695881126655262, + -0.0111469906176707 + ], + [ + -0.16348489347806183, + 0.9865293950545871, + 0.005695814050465762, + 0.005364670836316679 + ], + [ + 0.3654866262031658, + 0.05520272989617933, + 0.9291782308462877, + -0.007788948414551395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9152961794804585, + 0.15476578882584868, + -0.3718607998130336, + -0.01119253241679067 + ], + [ + -0.1645233021558201, + 0.9863575366918893, + 0.005558134475989891, + 0.00538789616433551 + ], + [ + 0.3676479115624363, + 0.0560924274766325, + 0.9282718635742213, + -0.007833566486180357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_037/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_037/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f52ff01ad17f747c63181d0ae319175daf04ca0b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_037/tilt_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999773127682, + 0.0001735146220590681, + 0.0001235602642212247, + -1.0666557460709146e-05 + ], + [ + -0.0001734979015274917, + 0.9999999757933861, + -0.0001353207494937281, + 4.682161014083724e-05 + ], + [ + -0.00012358374135895423, + 0.0001352993089771203, + 0.9999999832105777, + 8.189826718238941e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999799446670666, + 0.006224282552618744, + 0.001169859117874877, + -0.0008008494391353606 + ], + [ + -0.006209721437439406, + 0.9999079502506122, + -0.012063597526802465, + 0.0002292858101172538 + ], + [ + -0.0012448386722441489, + 0.012056091088094637, + 0.9999265478245668, + -0.0008672114325575573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999557919743205, + 0.009258158494393357, + 0.0016433497200357078, + -0.0011959408799726865 + ], + [ + -0.009224064935889401, + 0.9997640676130644, + -0.01966534352200946, + 0.00032051791010546206 + ], + [ + -0.0018250268677871447, + 0.019649315791468055, + 0.9998052678726289, + -0.0013417662824275307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999222158528099, + 0.01229714560408748, + 0.0020838555608352124, + -0.0015910323208100123 + ], + [ + -0.012235783129675557, + 0.9995532918495016, + -0.02726723975815449, + 0.0004117500100936703 + ], + [ + -0.0024182339030993146, + 0.027239621194447724, + 0.9996260076558497, + -0.001816321132297504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998267973680801, + 0.018379729040113823, + 0.002925888770965282, + -0.0023812152024846635 + ], + [ + -0.01825100467154286, + 0.999064693425274, + -0.03919998953497956, + 0.0005942142100700869 + ], + [ + -0.0036436373539891023, + 0.03913979958399357, + 0.9992271013114875, + -0.002765430832037451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996936999533905, + 0.024474431947412206, + 0.0036753849256709794, + -0.003171398084159315 + ], + [ + -0.024254708976539266, + 0.9983973507687597, + -0.05113158583874966, + 0.0007766784100465034 + ], + [ + -0.004920911090819086, + 0.05102677883987513, + 0.998685161837935, + -0.0037145405317773974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9996130261634737, + 0.027532424555772584, + 0.003970330261259626, + -0.0035664895249966407 + ], + [ + -0.02725203092808383, + 0.9979019089180645, + -0.05872909830720924, + 0.0008679105100347117 + ], + [ + -0.005578954615117928, + 0.058598172119647, + 0.9982660614734123, + -0.004189095381647371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995229385904777, + 0.030593869033793342, + 0.004232069115643571, + -0.003961580965833967 + ], + [ + -0.030246220254568155, + 0.9973396221857257, + -0.06632378290437185, + 0.0009591426100229199 + ], + [ + -0.00624991134086193, + 0.06616413829241033, + 0.9977891788410287, + -0.0046636502315173444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993145325006142, + 0.036710425711144634, + 0.004775958247950148, + -0.004751763847508618 + ], + [ + -0.03622486408800666, + 0.9962760001720131, + -0.0782425121213581, + 0.0011416068099993366 + ], + [ + -0.007630488508940756, + 0.0780158709838066, + 0.9969229155354759, + -0.005612759931257291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989429598652811, + 0.045781853118812325, + -0.004121269294602979, + -0.005171577168328893 + ], + [ + -0.04596386321916171, + 0.9958959966755668, + -0.07796465278284513, + 0.0011861652143907461 + ], + [ + 0.000534989309553625, + 0.0780716704739107, + 0.9969476054717479, + -0.0057564326012907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9986970524091912, + 0.050290795626840135, + -0.008662181273371048, + -0.00538148382873903 + ], + [ + -0.05082092202170124, + 0.9955447836739059, + -0.07942177021786972, + 0.0012084444165864508 + ], + [ + 0.004629405367593594, + 0.07975850785273841, + 0.9968034655994366, + -0.005828268936307404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984110777028151, + 0.054776270201628646, + -0.01322422561444038, + -0.005591390489149168 + ], + [ + -0.055669408711953666, + 0.9951699619718702, + -0.08085582058558402, + 0.0012307236187821555 + ], + [ + 0.008731371826059705, + 0.08146353179002777, + 0.9966380768033754, + -0.005900105271324108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977189773905608, + 0.06374879222603932, + -0.022202109009177486, + -0.006011203809969443 + ], + [ + -0.065339833153853, + 0.994618817725575, + -0.08039971162638843, + 0.001275282023173565 + ], + [ + 0.016957250902218328, + 0.08166700016469954, + 0.9965154051623781, + -0.006043777941357516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9968667778313381, + 0.07268418969664407, + -0.03120313805224959, + -0.006431017130789717 + ], + [ + -0.07497347516612599, + 0.9939829989389164, + -0.07985471709243157, + 0.0013198404275649746 + ], + [ + 0.02521121333216193, + 0.08194392221843089, + 0.9963180156625594, + -0.0061874506113909255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9963806855128123, + 0.07707896652336095, + -0.03583800296764381, + -0.006640923791199856 + ], + [ + -0.07977598530042773, + 0.9935021321206898, + -0.08117453813228206, + 0.0013421196297606793 + ], + [ + 0.029348282852054278, + 0.08373975394837256, + 0.9960553859611934, + -0.0062592869464076295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9958546254330157, + 0.08144890612226569, + -0.040492477019245986, + -0.006850830451609993 + ], + [ + -0.08456867968925967, + 0.9929988590234891, + -0.08247062746010941, + 0.001364398831956384 + ], + [ + 0.03349184108530332, + 0.08555315113737837, + 0.9957705332611432, + -0.0063311232814243345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9946826940833564, + 0.09027598725367413, + -0.0495639406872693, + -0.0072706437724302676 + ], + [ + -0.09412379826730104, + 0.9921988379277235, + -0.08174458156117836, + 0.0014089572363477935 + ], + [ + 0.04179771154995333, + 0.08597506696857053, + 0.9954201319889695, + -0.006474795951457743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9942591648999912, + 0.09094563690886799, + -0.05637024161392661, + -0.0073753736802387535 + ], + [ + -0.09558532277231868, + 0.9917028116299401, + -0.0859591733079346, + 0.0016806639756175139 + ], + [ + 0.04808491533614019, + 0.09085386360806143, + 0.9947026773788258, + -0.006553269884203306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9940314816134438, + 0.09116216071083803, + -0.0599239018749095, + -0.0074277386341429965 + ], + [ + -0.09631832411771289, + 0.991301946449296, + -0.08968406438711869, + 0.001816517345252374 + ], + [ + 0.05122688747657472, + 0.09492055320302861, + 0.9941659290979017, + -0.006592506850576087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9937931891916628, + 0.09135370601552949, + -0.06347911084358838, + -0.007480103588047239 + ], + [ + -0.09705280735673143, + 0.9908866207630107, + -0.09340480382206767, + 0.0019523707148872342 + ], + [ + 0.05436772664404451, + 0.09898588379203362, + 0.9936025086066705, + -0.006631743816948869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9932847876324822, + 0.09189234605366069, + -0.07029315325583874, + -0.0075848334958557246 + ], + [ + -0.09852618691212199, + 0.9903373924350274, + -0.09759323561368391, + 0.0022240774541569543 + ], + [ + 0.060645866721914, + 0.10386359266723205, + 0.9927408689924089, + -0.006710217749694432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9927339827788856, + 0.09237656376948317, + -0.07710907794880073, + -0.0076895634036642105 + ], + [ + -0.10000539606852919, + 0.989768634105333, + -0.10176920800733581, + 0.002495784193426675 + ], + [ + 0.06691905702524668, + 0.10874107507012425, + 0.9918151130122216, + -0.006788691682439995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9924426866800199, + 0.09246638435394296, + -0.08066896193613, + -0.007741928357568453 + ], + [ + -0.10074716624819852, + 0.9893057156100439, + -0.10547136840990112, + 0.002631637563061535 + ], + [ + 0.07005370902601624, + 0.11280145755178933, + 0.9911449485448081, + -0.0068279286488127765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9921407990686297, + 0.09253118507167558, + -0.08422953527530007, + -0.007794293311472696 + ], + [ + -0.10149036919734745, + 0.9888285051024298, + -0.10916910028520335, + 0.002767490932696395 + ], + [ + 0.07318701922914886, + 0.11685960502297618, + 0.9904481273293553, + -0.006867165615185558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915052628197097, + 0.0928841620193083, + -0.09104859277764855, + -0.007899023219281182 + ], + [ + -0.10298104041423914, + 0.9882074650088173, + -0.1133177453713619, + 0.003039197671966115 + ], + [ + 0.07944947524068384, + 0.1217314197190637, + 0.9893782099567192, + -0.006945639547931121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9912814807890724, + 0.09559825831409113, + -0.0906752383616192, + -0.00793384403008666 + ], + [ + -0.10571684028627949, + 0.9878075657815816, + -0.1142810687058529, + 0.0031997529165862233 + ], + [ + 0.07864461535610322, + 0.12287060670469119, + 0.9893016923484523, + -0.006683403715321803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9911662839351769, + 0.09680755768516812, + -0.09065149951967237, + -0.007951254435489398 + ], + [ + -0.10708510193321501, + 0.9874152235119082, + -0.11637850884455243, + 0.0032800305388962776 + ], + [ + 0.07824435145162405, + 0.12505787920783504, + 0.989059324971942, + -0.006552285799017145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9910488837120169, + 0.09801746616010044, + -0.09063490729690493, + -0.007968664840892136 + ], + [ + -0.10845359847776623, + 0.987016467665716, + -0.11847493209078404, + 0.003360308161206332 + ], + [ + 0.07784553340037212, + 0.12724413104047663, + 0.9888119154042216, + -0.006421167882712486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9908074747725062, + 0.10073500257743076, + -0.09029400417887551, + -0.008003485651697614 + ], + [ + -0.11119127752590896, + 0.9865958588523297, + -0.11943664051533809, + 0.00352086340582644 + ], + [ + 0.07705224031192129, + 0.12837862186189267, + 0.988727405158649, + -0.006158932050103169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9905572572751253, + 0.10345355567006007, + -0.08996489247924996, + -0.008038306462503092 + ], + [ + -0.11392983995531199, + 0.9861664599138271, + -0.12039811007149152, + 0.0036814186504465483 + ], + [ + 0.07626474694993896, + 0.1295109074952831, + 0.9886407907892583, + -0.005896696217493851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9904288463828889, + 0.10466610974042682, + -0.0899761397508541, + -0.00805571686790583 + ], + [ + -0.11529944072360437, + 0.985749354992609, + -0.12249182870901922, + 0.0037616962727566026 + ], + [ + 0.07587317853816548, + 0.13169363919134663, + 0.9883825404037929, + -0.005765578301189192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9902982346450389, + 0.10587911990184118, + -0.08999454665551317, + -0.008073127273308568 + ], + [ + -0.11666924827848714, + 0.9853258396069191, + -0.12458441439061821, + 0.0038419738950666565 + ], + [ + 0.0754830640942226, + 0.1338753217427771, + 0.9881192768402081, + -0.005634460384884533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9900304104279416, + 0.10860049194149479, + -0.08969793519332989, + -0.008107948084114046 + ], + [ + -0.11940946499636718, + 0.984875699609027, + -0.12554376125045477, + 0.004002529139686765 + ], + [ + 0.07470720244503097, + 0.13500292393016958, + 0.9880248197455074, + -0.005372224552275216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906659300391902, + 0.10287759019408106, + -0.0894271574827517, + -0.008095687193105452 + ], + [ + -0.11400638462017301, + 0.9849575238830388, + -0.12985076207720173, + 0.00390044071050046 + ], + [ + 0.07472321811474221, + 0.13883399289097606, + 0.9874925635631516, + -0.00535000373247654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9909725412836405, + 0.09987001749397936, + -0.08943937627016564, + -0.008089556747601156 + ], + [ + -0.11130355774486674, + 0.9847631774070945, + -0.1336151280971542, + 0.003849396495907307 + ], + [ + 0.0747324591805939, + 0.14236384382572728, + 0.9869891567367828, + -0.005338893322577202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9912717170049804, + 0.09686284921300098, + -0.08943137876795627, + -0.00808342630209686 + ], + [ + -0.10859990066756885, + 0.98454718574801, + -0.1373786759678078, + 0.0037983522813141548 + ], + [ + 0.07474252230820419, + 0.14589183485724344, + 0.9864730750917609, + -0.005327782912677864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9918477527729229, + 0.09114215467426641, + -0.08905696469471028, + -0.008071165411088266 + ], + [ + -0.10319017871358033, + 0.9845192098766995, + -0.14168172924134848, + 0.003696263852127849 + ], + [ + 0.07476511443422076, + 0.1497165088595494, + 0.9858981411071565, + -0.0053055620928791885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9923940197017679, + 0.08542270879702858, + -0.08864011779067936, + -0.00805890452007967 + ], + [ + -0.09777738443239774, + 0.9844434027114195, + -0.14598208777627977, + 0.003594175422941544 + ], + [ + 0.074790993800902, + 0.15353874976611082, + 0.9853081546229755, + -0.005283341273080513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9926559845879109, + 0.08241879931790895, + -0.08855076386344694, + -0.008052774074575374 + ], + [ + -0.09506988696815992, + 0.9841438715280885, + -0.14974163324061615, + 0.0035431312083483916 + ], + [ + 0.07480516595574793, + 0.15706043948970774, + 0.9847518497030779, + -0.005272230863181175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9929105010619432, + 0.07941591623579349, + -0.08844121849765861, + -0.008046643629071077 + ], + [ + -0.09236168359230214, + 0.9838227253866285, + -0.15349972122718142, + 0.003492086993755239 + ], + [ + 0.07482015961568528, + 0.16058006495594768, + 0.9841829029473268, + -0.005261120453281837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9933971810360686, + 0.07370184608181579, + -0.08792086551965483, + -0.008034382738062484 + ], + [ + -0.08694324205058891, + 0.9836372655774583, + -0.15779290994538947, + 0.0033899985645689337 + ], + [ + 0.0748526109853598, + 0.16439515701940072, + 0.9835503642301402, + -0.005238899633483161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9928736899738579, + 0.07705280665403232, + -0.09091039953950245, + -0.008257330523007056 + ], + [ + -0.09106082057750294, + 0.9826353146855937, + -0.16166559710864886, + 0.0035048628010901166 + ], + [ + 0.07687498106307063, + 0.16879189352418697, + 0.9826492425922243, + -0.005454067094132735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9926040515188304, + 0.07856823483525498, + -0.09254312175021821, + -0.008368804415479342 + ], + [ + -0.09311958616628854, + 0.9818537878750392, + -0.16520254812700955, + 0.003562294919350708 + ], + [ + 0.07788414203560727, + 0.172598295792021, + 0.9819082893575487, + -0.005561650824457523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9923291530953988, + 0.08007264361789303, + -0.09418717354826307, + -0.008480278307951627 + ], + [ + -0.09517832077322086, + 0.9810556540066032, + -0.16873319470829198, + 0.0036197270376112996 + ], + [ + 0.07889194617803902, + 0.17640344522066, + 0.9811513060392487, + -0.00566923455478231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9917635824606985, + 0.0833667782923793, + -0.0972367049105981, + -0.008703226092896199 + ], + [ + -0.09929565144633794, + 0.9799797189536714, + -0.1725691862509948, + 0.003734591274132483 + ], + [ + 0.080903461659986, + 0.18080301633720727, + 0.9801861553678458, + -0.005884402015431884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9911769905956046, + 0.08663708551573612, + -0.10031046170355125, + -0.008926173877840771 + ], + [ + -0.10341272140920392, + 0.9788733484425223, + -0.17638814234428166, + 0.003849455510653666 + ], + [ + 0.08290948295932724, + 0.18520524593613222, + 0.9791961164716462, + -0.006099569476081458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9908758157432981, + 0.08809645863771356, + -0.10200064583397331, + -0.009037647770313056 + ], + [ + -0.1054711301296757, + 0.9780157592220197, + -0.17989167691292943, + 0.003906887628914257 + ], + [ + 0.0839104194020209, + 0.18900843549659466, + 0.9783837962818615, + -0.006207153206406245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9905693904915284, + 0.08954447401372907, + -0.10370183120295846, + -0.009149121662785342 + ], + [ + -0.10752943947994266, + 0.9771417890363775, + -0.18338850499395334, + 0.003964319747174849 + ], + [ + 0.08490996564815957, + 0.19281003939731067, + 0.9775554134887884, + -0.006314736936731033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9899407956051551, + 0.09275627158956974, + -0.10683396125499968, + -0.009372069447729914 + ], + [ + -0.1116457144844714, + 0.9759626241081532, + -0.18716888304731683, + 0.004079183983696032 + ], + [ + 0.08690486542124488, + 0.1972136669319098, + 0.9765010568050531, + -0.006529904397380607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9889819186883556, + 0.0973550156068802, + -0.11152024678812313, + -0.009731798857414353 + ], + [ + -0.11709647703235991, + 0.9753638710396528, + -0.1869591777291354, + 0.004187652431470649 + ], + [ + 0.09057140594089168, + 0.19795787432362608, + 0.9760171619490934, + -0.006550371348629482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9884860621604115, + 0.09945992217721818, + -0.11403082388154946, + -0.009911663562256572 + ], + [ + -0.11981584406194197, + 0.9747486095924475, + -0.18843914563942132, + 0.004241886655357957 + ], + [ + 0.09240924426878326, + 0.19993216844243036, + 0.9754422892183731, + -0.00656060482425392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9879792689142849, + 0.10155147564617241, + -0.11655154220206619, + -0.010091528267098792 + ], + [ + -0.12253115381278223, + 0.9741252781719413, + -0.18991065997396261, + 0.004296120879245266 + ], + [ + 0.09425009570766212, + 0.2019089899447833, + 0.9748587996415552, + -0.006570838299878356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9869328991164705, + 0.10609172596220064, + -0.1212765365762058, + -0.01045125767678323 + ], + [ + -0.12794945845142697, + 0.973480503419813, + -0.18964346955140296, + 0.004404589327019882 + ], + [ + 0.0979407408770478, + 0.20268264638066244, + 0.974334314356518, + -0.006591305251127231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9858428644322171, + 0.11061007368252405, + -0.1260129288923472, + -0.01081098708646767 + ], + [ + -0.13335110543669462, + 0.9728127633435463, + -0.18934838302637982, + 0.004513057774794499 + ], + [ + 0.10164314697456345, + 0.20347171566544497, + 0.9737904967688211, + -0.0066117722023761065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9852814906173104, + 0.11265074414987528, + -0.12856980240091453, + -0.010990851791309889 + ], + [ + -0.13604559332653826, + 0.9721594994767515, + -0.19078129917143957, + 0.004567291998681808 + ], + [ + 0.10349869942835527, + 0.20546463788105124, + 0.973176398088778, + -0.006622005678000543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9847092222997028, + 0.11467777039838267, + -0.13113640415373218, + -0.011170716496152108 + ], + [ + -0.1387358101347423, + 0.9714985318055527, + -0.19220556101713843, + 0.004621526222569117 + ], + [ + 0.10535711890599465, + 0.20745990377928938, + 0.9725534771002141, + -0.006632239153624981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9835320324549511, + 0.11913605922670881, + -0.13590930993483535, + -0.011530445905836547 + ], + [ + -0.14410328880448225, + 0.970786801234493, + -0.19185210112123638, + 0.004729994670343733 + ], + [ + 0.10908246096767797, + 0.2082776654872799, + 0.9719678136483759, + -0.006652706104873856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.98324285131895, + 0.11890669148258198, + -0.1381835520271768, + -0.011566837700880983 + ], + [ + -0.14500326338787273, + 0.969519670621612, + -0.19749851109471245, + 0.004785555308109658 + ], + [ + 0.11048777731970456, + 0.21422606517048087, + 0.9705151436554323, + -0.006816057142881912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9830970944292717, + 0.11855674798329446, + -0.13951487530851023, + -0.0115850335984032 + ], + [ + -0.14545456938042597, + 0.9685442990212426, + -0.20190321711108197, + 0.0048133356269926195 + ], + [ + 0.11118934828066218, + 0.2187835422079903, + 0.9694177069188732, + -0.00689773266188594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9829505605067871, + 0.1181980070465247, + -0.1408454001010437, + -0.011603229495925418 + ], + [ + -0.14590675291100916, + 0.9675486362791903, + -0.20630282569379677, + 0.004841115945875582 + ], + [ + 0.11189019194888841, + 0.2233357731410467, + 0.9682983617569184, + -0.006979408180889969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9826551631207033, + 0.11792312346437228, + -0.14311871765995757, + -0.011639621290969855 + ], + [ + -0.14681374778466735, + 0.9661952413980383, + -0.21192564488802926, + 0.004896676583641506 + ], + [ + 0.11328968997064257, + 0.22926162446470064, + 0.966749478248715, + -0.007142759218898025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9823566622959113, + 0.11762919650894119, + -0.14539174726062654, + -0.011676013086014292 + ], + [ + -0.14772423838241883, + 0.9648080517018579, + -0.2175384397424959, + 0.0049522372214074305 + ], + [ + 0.1146862565313355, + 0.23517822071766367, + 0.9651623008918774, + -0.007306110256906082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9822062490827613, + 0.117235177650603, + -0.14672013285164529, + -0.01169420898353651 + ], + [ + -0.14818079155942285, + 0.9637399829459583, + -0.22191822431730773, + 0.004980017540290393 + ], + [ + 0.11538343588052745, + 0.2397105721334701, + 0.9639634351633098, + -0.0073877857759101105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9820550612005623, + 0.11683236563002071, + -0.1480474758705905, + -0.011712404881058727 + ], + [ + -0.1486382150407331, + 0.9626517524033977, + -0.22629247584524817, + 0.005007797859173355 + ], + [ + 0.11607987680844904, + 0.24423718377012252, + 0.9627427799075798, + -0.007469461294914138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9817503630357124, + 0.1164929111143414, + -0.1503184165009513, + -0.011748796676103164 + ], + [ + -0.14955566805908035, + 0.9611788911135954, + -0.23187979952777607, + 0.005063358496939279 + ], + [ + 0.11747053601073543, + 0.2501290485684252, + 0.961059900438888, + -0.007632812332922195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.981546520123677, + 0.11666373327591258, + -0.15151238289732905, + -0.011610544167097779 + ], + [ + -0.15050485323775784, + 0.9600867692731895, + -0.2357576819924444, + 0.005094222780153153 + ], + [ + 0.11796066287106513, + 0.25421048130377377, + 0.9599282854517428, + -0.00762165328683626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9814441759006726, + 0.11649730356427716, + -0.15230137180243128, + -0.011541417912595086 + ], + [ + -0.1509795452326914, + 0.9591443104738496, + -0.23926422341623338, + 0.00510965492176009 + ], + [ + 0.1182053573742724, + 0.2578188704263057, + 0.9589353072757955, + -0.0076160737637932935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.981341549899569, + 0.11632673500617878, + -0.15309099635025672, + -0.011472291658092394 + ], + [ + -0.15145430318910755, + 0.958188833442821, + -0.24276687070312558, + 0.005125087063367027 + ], + [ + 0.11844980576688989, + 0.26142350733682784, + 0.9579286994998625, + -0.007610494240750326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9811354527635655, + 0.11647869698932525, + -0.15429172524183807, + -0.01133403914908701 + ], + [ + -0.15240401605945259, + 0.957051106973365, + -0.24662967082248516, + 0.005155951346580901 + ], + [ + 0.1189379637432221, + 0.26549179231894576, + 0.9567485923647291, + -0.007599335194664391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.980928229118044, + 0.11662315121534886, + -0.15549549806968804, + -0.011195786640081626 + ], + [ + -0.15335398999460287, + 0.9558969649331474, + -0.25048661877300565, + 0.0051868156297947745 + ], + [ + 0.11942513584699715, + 0.2695552504259557, + 0.9555509425958026, + -0.007588176148578457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9808241949805585, + 0.1164369846929314, + -0.15628924190857638, + -0.011126660385578933 + ], + [ + -0.15382907428190606, + 0.9548994592198726, + -0.2539756655413404, + 0.005202247771401712 + ], + [ + 0.11966835189936932, + 0.2731473071022539, + 0.9544998869441922, + -0.007582596625535489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.980719879367582, + 0.11624664551786634, + -0.15708353070605255, + -0.011057534131076241 + ], + [ + -0.15430422313985853, + 0.9538890087460375, + -0.2574606100255086, + 0.005217679913008649 + ], + [ + 0.11991132112707528, + 0.27673539057978436, + 0.953435261916725, + -0.007577017102492522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9805104039189548, + 0.11637206223648194, + -0.1582936857158766, + -0.010919281622070856 + ], + [ + -0.15525471364001364, + 0.9526895497519682, + -0.2613017330328096, + 0.0052485441962225226 + ], + [ + 0.12039651863424332, + 0.2807849086475637, + 0.9521893264348923, + -0.007565858056406588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9804875182543071, + 0.11678229145159401, + -0.15813324429361658, + -0.010964823421190826 + ], + [ + -0.1561073079898553, + 0.9514517976753505, + -0.2652734157289497, + 0.005271769524241354 + ], + [ + 0.11947692220537881, + 0.28478302811729966, + 0.9511171809806986, + -0.007610476128035549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.980475570032205, + 0.11672964250182585, + -0.1582461599262965, + -0.01098759432075081 + ], + [ + -0.15653324566654067, + 0.950387829945334, + -0.2688127893030717, + 0.00528338218825077 + ], + [ + 0.11901680373426901, + 0.2883351578514058, + 0.9501041191236271, + -0.00763278516385003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9804632848922936, + 0.11667759946519153, + -0.15836061619371752, + -0.011010365220310793 + ], + [ + -0.15695894336498767, + 0.9493104893494945, + -0.27234809510765845, + 0.005294994852260185 + ], + [ + 0.11855647209646618, + 0.29188342295180786, + 0.9490776734967356, + -0.007655094199664511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9804377038862867, + 0.11709365804223042, + -0.15821183282067064, + -0.011055907019430763 + ], + [ + -0.1578096178897158, + 0.9480250323259439, + -0.27630537921816745, + 0.005318220180279016 + ], + [ + 0.11763517033476219, + 0.29586756045515133, + 0.9479579913533243, + -0.007699712271293472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9804107752926277, + 0.11751231899905233, + -0.15806823391679373, + -0.011101448818550732 + ], + [ + -0.15865932969046098, + 0.9467222489179431, + -0.28025738260735594, + 0.005341445508297848 + ], + [ + 0.11671301894939938, + 0.29984635780215385, + 0.9468211198111817, + -0.007744330342922433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9803968056688468, + 0.11746393300585822, + -0.1581907958040449, + -0.011124219718110716 + ], + [ + -0.1590838239844263, + 0.9456013001059819, + -0.2837789953191907, + 0.005353058172307263 + ], + [ + 0.11625162528246158, + 0.3033816172424962, + 0.9457511057030353, + -0.007766639378736914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9803824991706258, + 0.1174160935320534, + -0.15831492759569532, + -0.0111469906176707 + ], + [ + -0.15950807689576485, + 0.9444670440204461, + -0.2872963211812777, + 0.005364670836316679 + ], + [ + 0.11579001997138151, + 0.3069127950069094, + 0.9446677762769694, + -0.007788948414551395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9803528755825583, + 0.11784029053139912, + -0.15818313836969009, + -0.01119253241679067 + ], + [ + -0.16035585763629367, + 0.9431167807773722, + -0.29123313125030076, + 0.00538789616433551 + ], + [ + 0.11486617543357922, + 0.3108768305030171, + 0.9434836288975346, + -0.007833566486180357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 439.82716878255206, + "fy": 439.82720375061035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_081/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..dfb96aa2c4e31f84e2e4f7667b6f35230b4c61a4 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/boom_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998810334246, + -0.0004566301525541118, + 0.00017152854113806557, + 0.005134672439034706 + ], + [ + 0.00045658292101556197, + 0.9999998578723281, + 0.000275295041644142, + 0.0012700117751654337 + ], + [ + -0.00017165422477597667, + -0.0002752166918908833, + 0.9999999473952985, + 0.007918895997300404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999569456473, + -0.0009052498730040714, + 0.00020398415804151782, + 0.010040550954022762 + ], + [ + 0.000905078920324842, + 0.9999992404593028, + 0.0008366080122048063, + 0.0008217248598047676 + ], + [ + -0.00020474134240405076, + -0.000836423030247118, + 0.9999996292386801, + 0.016165540667567046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999994051094394, + -0.001062412757887734, + 0.00024710301309320353, + 0.014284240166143677 + ], + [ + 0.0010620532126588787, + 0.9999983838274342, + 0.001450650024240791, + -0.00021255526803031595 + ], + [ + -0.0002486438028250765, + -0.0014503867247138717, + 0.9999989172767179, + 0.024541244876512748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998430661549, + -0.0004879148335373043, + 0.0002753303123862435, + 0.0172900320467318 + ], + [ + 0.0004873829793287499, + 0.9999980217341332, + 0.0019284671766669717, + -0.00015568613963921202 + ], + [ + -0.00027627069545117, + -0.001928332682717252, + 0.9999981026019837, + 0.033010394180301335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999999625541605, + 0.00019000055976908317, + 0.0001969554898521695, + 0.019328629907516715 + ], + [ + -0.00019045938161307702, + 0.9999972623363792, + 0.002332176016254056, + 0.0014337169224401692 + ], + [ + -0.0001965118359057217, + -0.002332213440944569, + 0.9999972610780312, + 0.043063513571738585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999843842303, + 0.0005287124304271314, + -0.00018104843391757974, + 0.02087843551237928 + ], + [ + -0.0005282134560870304, + 0.9999960927768798, + 0.0027450722246625406, + 0.0018699677862369516 + ], + [ + 0.00018249908032855224, + -0.0027449761637793856, + 0.9999962158928132, + 0.052119344033891346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999995308365015, + 0.0005229085202550808, + -0.0008154099928655837, + 0.022480341604390837 + ], + [ + -0.000520318845952188, + 0.9999948309692233, + 0.003172901374651888, + 0.0012173414457746536 + ], + [ + 0.0008170649151489695, + -0.003172475612855913, + 0.9999946338873077, + 0.06109122923927074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999998578194253, + -3.5432613119883425e-05, + -0.001685928231641647, + 0.024442289848877002 + ], + [ + 4.136867170421239e-05, + 0.9999938002664762, + 0.0035210392278044265, + -0.000920288637807588 + ], + [ + 0.001685793019715132, + -0.0035211039661821493, + 0.9999923799353443, + 0.06970052061227305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967928195441, + -0.00039329127209187094, + -0.002501933772350567, + 0.027334461508363838 + ], + [ + 0.00040185018699476774, + 0.9999940664656488, + 0.003421337446539131, + -0.0009266597609845217 + ], + [ + 0.0025005733448839793, + -0.0034223318762468067, + 0.999991017348394, + 0.07740048397343746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999946827562619, + -0.0009169640990473038, + -0.003129478557857607, + 0.030929274228653623 + ], + [ + 0.0009275341457248904, + 0.9999938650683583, + 0.0033777960350559063, + -5.017931522146961e-05 + ], + [ + 0.0031263620410225297, + -0.0033806807727118173, + 0.9999893983727535, + 0.08498004392107975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999924276762973, + -0.001596293341963687, + -0.003549146042644426, + 0.035158372509508005 + ], + [ + 0.0016086911660815853, + 0.9999926052292623, + 0.00349307880317827, + 0.0012908180485001718 + ], + [ + 0.003543543819086658, + -0.0034987618323407883, + 0.9999876009045527, + 0.09270449301586023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999908539978033, + -0.0020049620711180996, + -0.0037778363963285925, + 0.0398343287558216 + ], + [ + 0.0020196180420454196, + 0.999990434689212, + 0.0038796485723529605, + 0.0018346914959877763 + ], + [ + 0.003770021711912521, + -0.0038872428756245164, + 0.9999853380320721, + 0.10137379915827588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999899287701002, + -0.002216117580573264, + -0.0039027145987850387, + 0.0442087197511106 + ], + [ + 0.002232957729064116, + 0.999988193274287, + 0.0043159253709895975, + 0.0014403183680973888 + ], + [ + 0.0038931039224131417, + -0.004324596501040644, + 0.9999830706601752, + 0.11064125857199923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999898324559524, + -0.0020775335848582685, + -0.004002354172224393, + 0.04888896046597412 + ], + [ + 0.0020963021744118573, + 0.9999868003357687, + 0.004690913708970567, + 0.0018221313995798079 + ], + [ + 0.003992555811719127, + -0.004699256157652807, + 0.9999809880641006, + 0.12095200983698953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999903698077597, + -0.0016272207579217958, + -0.004075836643567425, + 0.052914534229514774 + ], + [ + 0.0016470132607435378, + 0.9999868463282636, + 0.004857418838499475, + 0.0032464536961912295 + ], + [ + 0.004067878938586238, + -0.004864085017622848, + 0.9999798963168621, + 0.1298014650601051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999909972616567, + -0.0012364186253772157, + -0.004059145799321796, + 0.05699235725407757 + ], + [ + 0.0012563117039163536, + 0.9999871963595386, + 0.0049019177769997315, + 0.0052958219713021 + ], + [ + 0.004053033005038851, + -0.004906973198692196, + 0.999979747063653, + 0.1390743137785877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999938569131969, + -0.0009452935882093677, + -0.0033752860472581778, + 0.06149454202978084 + ], + [ + 0.0009621543408406913, + 0.9999870508887987, + 0.004997230607812656, + 0.0054888563438175025 + ], + [ + 0.003370518490251446, + -0.005000447455513205, + 0.9999818173998724, + 0.14854980396766407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999982377416984, + -0.0007542206106877338, + -0.0017192046907349443, + 0.06651955006363543 + ], + [ + 0.0007622136878874326, + 0.9999888824634918, + 0.004653383684088497, + 0.005262621879009971 + ], + [ + 0.0017156758995300518, + -0.004654685884972026, + 0.9999876951020551, + 0.15783950725761395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999990701681498, + -0.0006722008181272823, + 0.0011865112287580996, + 0.07218038102819545 + ], + [ + 0.0006679855926368375, + 0.9999934775788604, + 0.003549449955316613, + 0.005368911314787124 + ], + [ + -0.0011888894329960442, + -0.003548654082518681, + 0.9999929967735368, + 0.16670480493007941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999858718478508, + -0.0004563587387609655, + 0.00529602127972103, + 0.07864543990692283 + ], + [ + 0.0004417906921940399, + 0.9999961167600117, + 0.0027515969692831974, + 0.007269352312696844 + ], + [ + -0.0052972564293218985, + -0.0027492183613955197, + 0.9999821902777686, + 0.17535167183356468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999293459592579, + 0.0007767809209849976, + 0.011861690473617764, + 0.08507099574777387 + ], + [ + -0.0008057143128650192, + 0.9999967116558404, + 0.002434646165769564, + 0.008168209863805814 + ], + [ + -0.01185976028160625, + -0.002444031281969543, + 0.9999266837109388, + 0.18493440737552871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998010595223524, + 0.0026865843271756534, + 0.01976420103709158, + 0.09105827619340928 + ], + [ + -0.0027339104009323507, + 0.9999934593573456, + 0.0023679054982240653, + 0.00824975682070343 + ], + [ + -0.019757710188715482, + -0.002421467980754647, + 0.9998018650617316, + 0.19492266322969842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995896704338054, + 0.00506382843153853, + 0.02819305594738486, + 0.09640129282504795 + ], + [ + -0.005127443021513519, + 0.9999844684018616, + 0.002184555585867156, + 0.007767435052473789 + ], + [ + -0.0281815558494836, + -0.002328217486093838, + 0.9996001097004943, + 0.20562912440039918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993224706677479, + 0.007958609602376028, + 0.035934108472385526, + 0.10006306274659403 + ], + [ + -0.008034456238718535, + 0.9999657890133761, + 0.0019668034484017667, + 0.00954897317181605 + ], + [ + -0.03591722611027079, + -0.0022541819033734464, + 0.9993522259606422, + 0.2148703075181783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989825514562434, + 0.01069847447946293, + 0.04381100923040447, + 0.10323940476001181 + ], + [ + -0.010797894719305482, + 0.9999396338122316, + 0.0020332734914994847, + 0.01085924160519446 + ], + [ + -0.04378661160223636, + -0.0025042714055629276, + 0.9990377676890511, + 0.22453744344353646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9985663970862058, + 0.013111649677990516, + 0.05189638959499684, + 0.10622814046180841 + ], + [ + -0.013243207408047198, + 0.9999099023785581, + 0.0021919358680908573, + 0.01142851048137302 + ], + [ + -0.05186297395851388, + -0.002876068153578878, + 0.9986500689251238, + 0.23446396845473702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980664103466143, + 0.014830824451297806, + 0.060361305353008404, + 0.10952960130890058 + ], + [ + -0.014986219416993142, + 0.999885447556448, + 0.0021224967438791486, + 0.01062292208866103 + ], + [ + -0.06032291244137729, + -0.0030229804724521444, + 0.9981743373898437, + 0.24439944206037825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973807182650862, + 0.01715645815298489, + 0.07026634170544012, + 0.11319938967051585 + ], + [ + -0.017315430696549287, + 0.999848708776976, + 0.0016539095522100085, + 0.011152372459612668 + ], + [ + -0.07022733579464475, + -0.0028662694672293046, + 0.9975268947785455, + 0.25322343636923694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9965477915367277, + 0.01937797138199746, + 0.080727897336605, + 0.11711610838841606 + ], + [ + -0.019546616101129743, + 0.9998081024845881, + 0.0012992325283071827, + 0.012244388707797517 + ], + [ + -0.08068722936292959, + -0.0028727045246672344, + 0.996735330258965, + 0.26185202112812983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9955357038874815, + 0.021546143998104866, + 0.09189355779416591, + 0.12123983409881518 + ], + [ + -0.02174611624101804, + 0.999762834442744, + 0.001175285259995729, + 0.01353053491827743 + ], + [ + -0.09184644094187272, + -0.0031683664281710712, + 0.9957681420594293, + 0.27055500287011774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9941092263108392, + 0.024690053688051845, + 0.10553315788199284, + 0.12544531408429213 + ], + [ + -0.024981756517517963, + 0.9996868659350449, + 0.001442885396353558, + 0.013573170216141676 + ], + [ + -0.10546448693737602, + -0.004070789339756971, + 0.9944147377574345, + 0.28003228293632765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9923190683868242, + 0.027975225443755553, + 0.12050001359865799, + 0.12963167907067683 + ], + [ + -0.028330347241876705, + 0.9995978527411713, + 0.0012345932101019365, + 0.013348273633665926 + ], + [ + -0.12041701682511653, + -0.004638917611985897, + 0.9927125578445802, + 0.2905352516575389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906972298998175, + 0.03106223217534586, + 0.13249202391507728, + 0.13264781164497624 + ], + [ + -0.03143625260982976, + 0.9995054910912501, + 0.0007316421873206007, + 0.013790743375480835 + ], + [ + -0.1324037789894211, + -0.004889888620838336, + 0.9911838014710473, + 0.2994084856999062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9890780272688721, + 0.034367985890978045, + 0.14333003006946715, + 0.13500311681219784 + ], + [ + -0.03473982095093406, + 0.9993963860348324, + 9.176499214960969e-05, + 0.015132313885098218 + ], + [ + -0.14324036028373383, + -0.005070022318912962, + 0.9896749436352686, + 0.30788922811040925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9872628544061562, + 0.037581924863395545, + 0.1545951332784149, + 0.1366789951075436 + ], + [ + -0.0380133851640646, + 0.9992772164002812, + -0.00016532293870693496, + 0.016535027042202194 + ], + [ + -0.1544896076057456, + -0.0057134671494356625, + 0.9879778931914192, + 0.3165848909012708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9851150195684035, + 0.04040818784495145, + 0.16707955163882557, + 0.13842547857582463 + ], + [ + -0.041114510381613505, + 0.9991541449680008, + 0.0007691744557556824, + 0.016490519227819085 + ], + [ + -0.16690714561343398, + -0.007627119269443098, + 0.985943117930657, + 0.3256653242023873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9828268536790871, + 0.04289945358304632, + 0.17947426715142878, + 0.14033950188065009 + ], + [ + -0.04393841633121413, + 0.99903259114043, + 0.0018158770727541174, + 0.015990143196864003 + ], + [ + -0.17922274202112654, + -0.009670507820921945, + 0.9837609923253281, + 0.33452835192207697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9805457503468437, + 0.045067892794558556, + 0.19104689611664386, + 0.14249382073319145 + ], + [ + -0.046380179312046674, + 0.9989209759333793, + 0.002400584780349424, + 0.015533697498595747 + ], + [ + -0.19073256262035573, + -0.011214672503618833, + 0.9815779748328244, + 0.3428113457376007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776973370077081, + 0.047269449154428024, + 0.20463019421550033, + 0.1455507377788034 + ], + [ + -0.04908565903732195, + 0.9987873215006285, + 0.0038058489817809063, + 0.01647190528214979 + ], + [ + -0.2042021431937192, + -0.013765376356543704, + 0.9788319565323023, + 0.3510124430891635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9743208039706551, + 0.04958200793205074, + 0.2196374181222376, + 0.14878990953179086 + ], + [ + -0.05223079637739825, + 0.998615383490586, + 0.006265761384930319, + 0.017406732128464532 + ], + [ + -0.21902263549633252, + -0.017576698932853664, + 0.9755614510602931, + 0.35950910686388365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698339933878807, + 0.052048688884097936, + 0.23814482831832146, + 0.15259177638457602 + ], + [ + -0.0561335407186492, + 0.9983691157391537, + 0.010398766494561163, + 0.018005170430483393 + ], + [ + -0.2372151995039613, + -0.02345298965307056, + 0.9711739835892583, + 0.3696225217295939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9652370350541465, + 0.05385962224438621, + 0.2557667047361179, + 0.1560125960830841 + ], + [ + -0.05973029220521476, + 0.9980982799677122, + 0.01523534438646745, + 0.017319651645379498 + ], + [ + -0.2544597381767107, + -0.029982738653875882, + 0.9666184754233975, + 0.3792529017124794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9618708835996563, + 0.05537099295338473, + 0.26784035622469676, + 0.15855662579756102 + ], + [ + -0.06259395605985763, + 0.9978676458047481, + 0.018497516613484734, + 0.01790119304107099 + ], + [ + -0.2662449998553829, + -0.034557410137997166, + 0.9632857236856369, + 0.38860790962288816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9599644527883817, + 0.054709696762935384, + 0.2747273165573645, + 0.16074052035700873 + ], + [ + -0.06421958956999167, + 0.9976039244912716, + 0.02573429919533881, + 0.019118628746967216 + ], + [ + -0.272661133457199, + -0.04234688795792504, + 0.96117773974542, + 0.39827512916110164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.959228597493123, + 0.05271485086942851, + 0.2776718247305449, + 0.1628181855456711 + ], + [ + -0.06491814104654646, + 0.9972789561737107, + 0.03493305792705433, + 0.020409241636990212 + ], + [ + -0.2750747765870896, + -0.05153472684402379, + 0.9600406445639033, + 0.4083441034956692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9592117081109408, + 0.050635260154681165, + 0.27811682698455925, + 0.16521356246402055 + ], + [ + -0.06504616922240618, + 0.9969627059464662, + 0.04282941537530427, + 0.0207670875914693 + ], + [ + -0.2751034258099699, + -0.05917291087117489, + 0.9595919297944573, + 0.41903468306743397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9594122725254143, + 0.04878320517357568, + 0.2777558104173756, + 0.16809679416134132 + ], + [ + -0.0643876409692216, + 0.9968017795104784, + 0.047333329221198206, + 0.02037986514164901 + ], + [ + -0.274558414582469, + -0.06329621835257253, + 0.959484896037569, + 0.4290424529025093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9596336043928115, + 0.046794989685789934, + 0.277332966414683, + 0.17140318453675554 + ], + [ + -0.06375173063533834, + 0.9965871185572243, + 0.05243884025041382, + 0.02099426257719058 + ], + [ + -0.27393258689148353, + -0.06800252985085167, + 0.9593417502500472, + 0.4387777059172752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9599138092593161, + 0.04399612109421812, + 0.2768209170599879, + 0.17588384719380648 + ], + [ + -0.06307838922171954, + 0.9961787779317892, + 0.06040661562710491, + 0.023007108113978082 + ], + [ + -0.2731054660867539, + -0.07544656206210085, + 0.9590209698784209, + 0.44991713068976535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9602923646695127, + 0.04035416977918531, + 0.2760617962320554, + 0.18097086476460497 + ], + [ + -0.06213397393469135, + 0.9955672897784723, + 0.07060552957262649, + 0.024406712805888346 + ], + [ + -0.27198886675840117, + -0.08495476740348727, + 0.9585430318222029, + 0.4610560766486237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9604607716557428, + 0.038359475708249706, + 0.27576014348314243, + 0.1851077683491836 + ], + [ + -0.062009186446761656, + 0.9950575669690839, + 0.07755836005085466, + 0.023875143422956727 + ], + [ + -0.2714221194130387, + -0.09159142449462972, + 0.9580923984942051, + 0.4729011739969906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.960553913591439, + 0.037437528657904735, + 0.27556235325631656, + 0.18836339852959164 + ], + [ + -0.062302288187152215, + 0.9946800158146455, + 0.0820371319929081, + 0.023895369262528027 + ], + [ + -0.271025098414917, + -0.09596925334171019, + 0.9577762256614117, + 0.48434621619373236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9605971300944649, + 0.03737697775156938, + 0.2754198888759421, + 0.19078225854170136 + ], + [ + -0.062902222104117, + 0.9944417611829008, + 0.08443277840871256, + 0.024857605472470137 + ], + [ + -0.27073319727850503, + -0.09843040764727694, + 0.9576089967944896, + 0.4953248824568316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9606094654368061, + 0.03748553553906205, + 0.27536210621391516, + 0.19257731717042978 + ], + [ + -0.06353881586619861, + 0.9942401574403237, + 0.08630949085333435, + 0.02663002782785734 + ], + [ + -0.2705407063484811, + -0.10040589603399898, + 0.9574582926948175, + 0.5065787362210081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9606099715882918, + 0.037394974268018064, + 0.2753726536616078, + 0.19420760687745053 + ], + [ + -0.0639679352818192, + 0.9940506178681053, + 0.0881559548290371, + 0.0266051323793106 + ], + [ + -0.27043776685389653, + -0.10229850935146859, + 0.9572870150814463, + 0.5185551931793824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9606492912850906, + 0.03703084042368552, + 0.2752846817586637, + 0.1961446235885374 + ], + [ + -0.06395502723001333, + 0.9939332383474435, + 0.08947889248405155, + 0.025974062810247833 + ], + [ + -0.27030111661896894, + -0.10356367396765984, + 0.9571895694108137, + 0.5302155474869896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.960759416789196, + 0.036321529437728886, + 0.27499470822215527, + 0.19868505479712495 + ], + [ + -0.06332059187548003, + 0.9939316772422094, + 0.08994622626340398, + 0.02533070246347932 + ], + [ + -0.27005896707093996, + -0.10382951157446887, + 0.9572291192973521, + 0.5409444735127438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9608893168531497, + 0.03542177080080529, + 0.2746580035440858, + 0.20236661469106584 + ], + [ + -0.062458723399431065, + 0.9939518943165372, + 0.09032463482284975, + 0.027025507021131046 + ], + [ + -0.2697973843994808, + -0.1039467649227383, + 0.9572901552994768, + 0.5520953588088083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9609751561686931, + 0.034601400408305116, + 0.27446218740719075, + 0.20648171314435534 + ], + [ + -0.06171661047185541, + 0.993956712943087, + 0.09078057494441703, + 0.02827718158960439 + ], + [ + -0.26966239859947294, + -0.10417675309375789, + 0.957303188596184, + 0.5626811314370064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9610609736326303, + 0.033880799899437306, + 0.2742515202482474, + 0.21076531680801347 + ], + [ + -0.061120643949804945, + 0.9939372116968253, + 0.09139521917201943, + 0.028806045767135358 + ], + [ + -0.269492248206626, + -0.10459880784461448, + 0.9573050807104408, + 0.5738239435749775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9611634763752864, + 0.03333803162263065, + 0.27395865989178536, + 0.21485816683168188 + ], + [ + -0.06075481108561539, + 0.993884579826815, + 0.09220788964306069, + 0.028195166871142652 + ], + [ + -0.26920925803568796, + -0.10527116238554675, + 0.9573110036753315, + 0.5855292721439448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9616261358832281, + 0.033513851467931705, + 0.27230864207012717, + 0.21743475521687952 + ], + [ + -0.06069780178209361, + 0.9939050808251776, + 0.0920242748883076, + 0.0290915203385059 + ], + [ + -0.2675648550260532, + -0.10502148384822287, + 0.9577993194219782, + 0.5961591194421897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.962201148352402, + 0.0339141631833179, + 0.2702198727793617, + 0.21951704206431397 + ], + [ + -0.06077117207346633, + 0.9939351937487909, + 0.09164985145853055, + 0.030680143860308706 + ], + [ + -0.265472813587637, + -0.10460717070606992, + 0.9584265882594947, + 0.6069149654548814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629295592821044, + 0.034219266539092866, + 0.2675737387306513, + 0.22136629247223763 + ], + [ + -0.06072703561871212, + 0.9939584618198968, + 0.09142649135556202, + 0.032095764625626744 + ], + [ + -0.2628286342956871, + -0.1042862309902487, + 0.9591900182029173, + 0.6180562835626973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9639164190124168, + 0.03383732221206532, + 0.26404577781853705, + 0.2234087756151113 + ], + [ + -0.06009230668405476, + 0.9939443539106602, + 0.09199747826168996, + 0.0317463979891527 + ], + [ + -0.25933386172204526, + -0.10454499966348214, + 0.9601126450629082, + 0.6301297564447961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9658520607454447, + 0.03269787360276493, + 0.25702265623021564, + 0.2259896699964851 + ], + [ + -0.05821694674571903, + 0.9940267575164228, + 0.0923124718171557, + 0.031396382740777204 + ], + [ + -0.2524689760453433, + -0.10412326542730331, + 0.9619863625495798, + 0.6409982659384728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9678530982362812, + 0.031990275005452984, + 0.24947345057041093, + 0.22935820743761276 + ], + [ + -0.056647935733934396, + 0.9941191848700944, + 0.09229332397472334, + 0.03254364228043173 + ], + [ + -0.24505385451266792, + -0.10345853555069631, + 0.9639735161352669, + 0.6526047191302826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9694254238584588, + 0.031511591740260275, + 0.24335440649974546, + 0.23269835484218848 + ], + [ + -0.05547081081501186, + 0.9941907891627959, + 0.09223699849508799, + 0.03428910057824602 + ], + [ + -0.23903417480430147, + -0.10291595760547953, + 0.9655418007242226, + 0.6628400807283211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9710345179248993, + 0.029999502743854697, + 0.23704850734286473, + 0.2362993512543636 + ], + [ + -0.053358728956224566, + 0.9942587983921989, + 0.0927485194700013, + 0.035669716542259935 + ], + [ + -0.23290515460705222, + -0.10271062094458637, + 0.9670603483250892, + 0.6736663760347227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9726938362082883, + 0.029404885625674927, + 0.23022174898072673, + 0.23947300740758362 + ], + [ + -0.05220008790202501, + 0.9942444739377934, + 0.09355787977066225, + 0.03533428104655684 + ], + [ + -0.22614564295034434, + -0.10302076851539115, + 0.9686304090978528, + 0.6848785084593804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9744312206290411, + 0.028925926068874484, + 0.22281626301609014, + 0.24206431098925432 + ], + [ + -0.050983194126253906, + 0.994276725022618, + 0.09388561122441688, + 0.03541013647186149 + ], + [ + -0.21882529602420775, + -0.10284495553674788, + 0.970329018910886, + 0.695430375489569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762425108263414, + 0.028401401132739118, + 0.21481136019582056, + 0.24408941349338695 + ], + [ + -0.04955341684693082, + 0.9943634395776999, + 0.09373264591379543, + 0.03623289659710545 + ], + [ + -0.21093842450884956, + -0.10215043046851974, + 0.972147247396618, + 0.7052742098153034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.978128303676563, + 0.027706566070362752, + 0.2061488970220266, + 0.2457950524331929 + ], + [ + -0.047959224168245974, + 0.9944254590592768, + 0.09390377623890665, + 0.03769009618441506 + ], + [ + -0.20239796037507252, + -0.10173668252570132, + 0.9740044728155386, + 0.7151821930955088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.979951367795309, + 0.026868563739568176, + 0.19741681042574893, + 0.24769388089376504 + ], + [ + -0.04631722542122416, + 0.994440284934835, + 0.0945686751942948, + 0.037962659584927005 + ], + [ + -0.19377830473348362, + -0.10181650151766797, + 0.9757475947361184, + 0.7257731713114978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817041535523893, + 0.025762516530206097, + 0.188661728074397, + 0.24975955860973398 + ], + [ + -0.044395663497354604, + 0.99446623908653, + 0.09521514784803028, + 0.03770428140739154 + ], + [ + -0.18516473735735026, + -0.10184886871793652, + 0.97741538149359, + 0.7362308635939012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9836017306472111, + 0.02413627067303522, + 0.17873185475960676, + 0.2522805852927533 + ], + [ + -0.04176600509328698, + 0.9945487965918056, + 0.09554209551992686, + 0.037523892855464175 + ], + [ + -0.17545152118565036, + -0.10144028605928358, + 0.9792479931446642, + 0.7471594213716881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9852972225985513, + 0.022954937982224997, + 0.16929989356704558, + 0.2545198128643142 + ], + [ + -0.03957065152592774, + 0.9946490657013533, + 0.09543269689806852, + 0.038719564664603065 + ], + [ + -0.1662033293210288, + -0.10072887829047453, + 0.9809333037474813, + 0.7558768583142665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9871506465239199, + 0.021405878191734267, + 0.15835210591036628, + 0.25732592796549647 + ], + [ + -0.03690074470658113, + 0.9947387397926083, + 0.0955676440847711, + 0.039652844984154 + ], + [ + -0.15547326492843375, + -0.10018297227899757, + 0.9827468829550359, + 0.7647747613742131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.989073241567126, + 0.0195987708690517, + 0.14611642959065285, + 0.2602235498732518 + ], + [ + -0.033901535175353284, + 0.9947991637107562, + 0.09604847626659385, + 0.039902076463583916 + ], + [ + -0.14347406988251254, + -0.0999525490460477, + 0.9845936619796745, + 0.7738723360979832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991017051954891, + 0.017571875289979742, + 0.1325761363648463, + 0.2629578767550657 + ], + [ + -0.03061160839417658, + 0.9948164935820206, + 0.09696944636685835, + 0.0391571521227045 + ], + [ + -0.13018499209263143, + -0.10015674363699549, + 0.986418012070884, + 0.7832036517115988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_081/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4c11baad15bbf6acace5c93b48e0ab4050c624 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/move_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998810334246, + -0.0004566301525541118, + 0.00017152854113806557, + 0.003884101800052233 + ], + [ + 0.00045658292101556197, + 0.9999998578723281, + 0.000275295041644142, + 0.0025194408688545746 + ], + [ + -0.00017165422477597667, + -0.0002752166918908833, + 0.9999999473952985, + 0.007918766544216511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999569456473, + -0.0009052498730040714, + 0.00020398415804151782, + 0.00753828890569907 + ], + [ + 0.000905078920324842, + 0.9999992404593028, + 0.0008366080122048063, + 0.003319460263652213 + ], + [ + -0.00020474134240405076, + -0.000836423030247118, + 0.9999996292386801, + 0.016163961463347438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999994051094394, + -0.001062412757887734, + 0.00024710301309320353, + 0.0105302583491412 + ], + [ + 0.0010620532126588787, + 0.9999983838274342, + 0.001450650024240791, + 0.0035334559717750923 + ], + [ + -0.0002486438028250765, + -0.0014503867247138717, + 0.9999989172767179, + 0.024536738340555666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998430661549, + -0.0004879148335373043, + 0.0002753303123862435, + 0.012287593257233338 + ], + [ + 0.0004873829793287499, + 0.9999980217341332, + 0.0019284671766669717, + 0.004841867054134812 + ], + [ + -0.00027627069545117, + -0.001928332682717252, + 0.9999981026019837, + 0.033002133870365005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999999625541605, + 0.00019000055976908317, + 0.0001969554898521695, + 0.013079817645051766 + ], + [ + -0.00019045938161307702, + 0.9999972623363792, + 0.002332176016254056, + 0.007684890183177621 + ], + [ + -0.0001965118359057217, + -0.002332213440944569, + 0.9999972610780312, + 0.043050165436707095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999843842303, + 0.0005287124304271314, + -0.00018104843391757974, + 0.013382402026790209 + ], + [ + -0.0005282134560870304, + 0.9999960927768798, + 0.0027450722246625406, + 0.009373900082984204 + ], + [ + 0.00018249908032855224, + -0.0027449761637793856, + 0.9999962158928132, + 0.05209738796956054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999995308365015, + 0.0005229085202550808, + -0.0008154099928655837, + 0.01373492115912368 + ], + [ + -0.000520318845952188, + 0.9999948309692233, + 0.003172901374651888, + 0.009971849006657438 + ], + [ + 0.0008170649151489695, + -0.003172475612855913, + 0.9999946338873077, + 0.061056320759650694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999998578194253, + -3.5432613119883425e-05, + -0.001685928231641647, + 0.014441949740803272 + ], + [ + 4.136867170421239e-05, + 0.9999938002664762, + 0.0035210392278044265, + 0.009079235678140134 + ], + [ + 0.001685793019715132, + -0.0035211039661821493, + 0.9999923799353443, + 0.06964845164241408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967928195441, + -0.00039329127209187094, + -0.002501933772350567, + 0.01608007306233293 + ], + [ + 0.00040185018699476774, + 0.9999940664656488, + 0.003421337446539131, + 0.010318752672150338 + ], + [ + 0.0025005733448839793, + -0.0034223318762468067, + 0.999991017348394, + 0.07733385128969973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999946827562619, + -0.0009169640990473038, + -0.003129478557857607, + 0.01841787864296226 + ], + [ + 0.0009275341457248904, + 0.9999938650683583, + 0.0033777960350559063, + 0.012438149821311448 + ], + [ + 0.0031263620410225297, + -0.0033806807727118173, + 0.9999893983727535, + 0.08489870588590806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999924276762973, + -0.001596293341963687, + -0.003549146042644426, + 0.021386527595506917 + ], + [ + 0.0016086911660815853, + 0.9999926052292623, + 0.00349307880317827, + 0.015018596866868907 + ], + [ + 0.003543543819086658, + -0.0034987618323407883, + 0.9999876009045527, + 0.09260766131315311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999908539978033, + -0.0020049620711180996, + -0.0037778363963285925, + 0.024804391514787777 + ], + [ + 0.0020196180420454196, + 0.999990434689212, + 0.0038796485723529605, + 0.016804253745695278 + ], + [ + 0.003770021711912521, + -0.0038872428756245164, + 0.9999853380320721, + 0.10125894018946283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999899287701002, + -0.002216117580573264, + -0.0039027145987850387, + 0.027922871497912154 + ], + [ + 0.002232957729064116, + 0.999988193274287, + 0.0043159253709895975, + 0.017653840945707263 + ], + [ + 0.0038931039224131417, + -0.004324596501040644, + 0.9999830706601752, + 0.1105077209401181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999898324559524, + -0.0020775335848582685, + -0.004002354172224393, + 0.03135278156025993 + ], + [ + 0.0020963021744118573, + 0.9999868003357687, + 0.004690913708970567, + 0.019285215117403554 + ], + [ + 0.003992555811719127, + -0.004699256157652807, + 0.9999809880641006, + 0.12079990312752552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999903698077597, + -0.0016272207579217958, + -0.004075836643567425, + 0.03413420440640824 + ], + [ + 0.0016470132607435378, + 0.9999868463282636, + 0.004857418838499475, + 0.02196532556620723 + ], + [ + 0.004067878938586238, + -0.004864085017622848, + 0.9999798963168621, + 0.12963399073592616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999909972616567, + -0.0012364186253772157, + -0.004059145799321796, + 0.03696780893633689 + ], + [ + 0.0012563117039163536, + 0.9999871963595386, + 0.0049019177769997315, + 0.02527043966441455 + ], + [ + 0.004053033005038851, + -0.004906973198692196, + 0.999979747063653, + 0.13889511365451307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999938569131969, + -0.0009452935882093677, + -0.0033752860472581778, + 0.04022458508162595 + ], + [ + 0.0009621543408406913, + 0.9999870508887987, + 0.004997230607812656, + 0.026718135395461615 + ], + [ + 0.003370518490251446, + -0.005000447455513205, + 0.9999818173998724, + 0.14837192094131657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999982377416984, + -0.0007542206106877338, + -0.0017192046907349443, + 0.04400261975070674 + ], + [ + 0.0007622136878874326, + 0.9999888824634918, + 0.004653383684088497, + 0.02774522192646107 + ], + [ + 0.0017156758995300518, + -0.004654685884972026, + 0.9999876951020551, + 0.15769617411746265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999990701681498, + -0.0006722008181272823, + 0.0011865112287580996, + 0.048414438342271354 + ], + [ + 0.0006679855926368375, + 0.9999934775788604, + 0.003549449955316613, + 0.029102891749459937 + ], + [ + -0.0011888894329960442, + -0.003548654082518681, + 0.9999929967735368, + 0.16664876051965324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999858718478508, + -0.0004563587387609655, + 0.00529602127972103, + 0.05363438414225753 + ], + [ + 0.0004417906921940399, + 0.9999961167600117, + 0.0027515969692831974, + 0.032258210464392284 + ], + [ + -0.0052972564293218985, + -0.0027492183613955197, + 0.9999821902777686, + 0.17541537278526284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999293459592579, + 0.0007767809209849976, + 0.011861690473617764, + 0.05884324091551921 + ], + [ + -0.0008057143128650192, + 0.9999967116558404, + 0.002434646165769564, + 0.03443927354548433 + ], + [ + -0.01185976028160625, + -0.002444031281969543, + 0.9999266837109388, + 0.18518157026176918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998010595223524, + 0.0026865843271756534, + 0.01976420103709158, + 0.06363762812554191 + ], + [ + -0.0027339104009323507, + 0.9999934593573456, + 0.0023679054982240653, + 0.03582475948905608 + ], + [ + -0.019757710188715482, + -0.002421467980754647, + 0.9998018650617316, + 0.19539940989041735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995896704338054, + 0.00506382843153853, + 0.02819305594738486, + 0.06780867486748277 + ], + [ + -0.005127443021513519, + 0.9999844684018616, + 0.002184555585867156, + 0.03666440250589583 + ], + [ + -0.0281815558494836, + -0.002328217486093838, + 0.9996001097004943, + 0.20637240787834665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993224706677479, + 0.007958609602376028, + 0.035934108472385526, + 0.07032214691463287 + ], + [ + -0.008034456238718535, + 0.9999657890133761, + 0.0019668034484017667, + 0.039788980529378896 + ], + [ + -0.03591722611027079, + -0.0022541819033734464, + 0.9993522259606422, + 0.2158801988443852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989825514562434, + 0.01069847447946293, + 0.04381100923040447, + 0.07235552735448741 + ], + [ + -0.010797894719305482, + 0.9999396338122316, + 0.0020332734914994847, + 0.04244478937180499 + ], + [ + -0.04378661160223636, + -0.0025042714055629276, + 0.9990377676890511, + 0.2258275165746825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9985663970862058, + 0.013111649677990516, + 0.05189638959499684, + 0.07420086117104141 + ], + [ + -0.013243207408047198, + 0.9999099023785581, + 0.0021919358680908573, + 0.04435598654943769 + ], + [ + -0.05186297395851388, + -0.002876068153578878, + 0.9986500689251238, + 0.2360560428933974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980664103466143, + 0.014830824451297806, + 0.060361305353008404, + 0.07634540028493365 + ], + [ + -0.014986219416993142, + 0.999885447556448, + 0.0021224967438791486, + 0.04487484084901467 + ], + [ + -0.06032291244137729, + -0.0030229804724521444, + 0.9981743373898437, + 0.24633331476432946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973807182650862, + 0.01715645815298489, + 0.07026634170544012, + 0.0788915405665923 + ], + [ + -0.017315430696549287, + 0.999848708776976, + 0.0016539095522100085, + 0.046753117341186055 + ], + [ + -0.07022733579464475, + -0.0028662694672293046, + 0.9975268947785455, + 0.2555810736906965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9965477915367277, + 0.01937797138199746, + 0.080727897336605, + 0.08169370240780709 + ], + [ + -0.019546616101129743, + 0.9998081024845881, + 0.0012992325283071827, + 0.04919599725652979 + ], + [ + -0.08068722936292959, + -0.0028727045246672344, + 0.996735330258965, + 0.26467279765351687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9955357038874815, + 0.021546143998104866, + 0.09189355779416591, + 0.08471522560296356 + ], + [ + -0.02174611624101804, + 0.999762834442744, + 0.001175285259995729, + 0.05183712056891851 + ], + [ + -0.09184644094187272, + -0.0031683664281710712, + 0.9957681420594293, + 0.27388043066438156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9941092263108392, + 0.024690053688051845, + 0.10553315788199284, + 0.08788032114515912 + ], + [ + -0.024981756517517963, + 0.9996868659350449, + 0.001442885396353558, + 0.05327907933617849 + ], + [ + -0.10546448693737602, + -0.004070789339756971, + 0.9944147377574345, + 0.2839612887182354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9923190683868242, + 0.027975225443755553, + 0.12050001359865799, + 0.09105792535295407 + ], + [ + -0.028330347241876705, + 0.9995978527411713, + 0.0012345932101019365, + 0.05446540163298785 + ], + [ + -0.12041701682511653, + -0.004638917611985897, + 0.9927125578445802, + 0.2951663756260641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906972298998175, + 0.03106223217534586, + 0.13249202391507728, + 0.0930628679888418 + ], + [ + -0.03143625260982976, + 0.9995054910912501, + 0.0007316421873206007, + 0.05631709030315039 + ], + [ + -0.1324037789894211, + -0.004889888620838336, + 0.9911838014710473, + 0.3046684336776102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9890780272688721, + 0.034367985890978045, + 0.14333003006946715, + 0.09442794005363733 + ], + [ + -0.03473982095093406, + 0.9993963860348324, + 9.176499214960969e-05, + 0.0590831026819933 + ], + [ + -0.14324036028373383, + -0.005070022318912962, + 0.9896749436352686, + 0.31376146747391415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9872628544061562, + 0.037581924863395545, + 0.1545951332784149, + 0.09513045444004783 + ], + [ + -0.0380133851640646, + 0.9992772164002812, + -0.00016532293870693496, + 0.061916490860642326 + ], + [ + -0.1544896076057456, + -0.0057134671494356625, + 0.9879778931914192, + 0.32309384704623434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9851150195684035, + 0.04040818784495145, + 0.16707955163882557, + 0.09591367114826929 + ], + [ + -0.041114510381613505, + 0.9991541449680008, + 0.0007691744557556824, + 0.06330260871855174 + ], + [ + -0.16690714561343398, + -0.007627119269443098, + 0.985943117930657, + 0.3328329253878669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9828268536790871, + 0.04289945358304632, + 0.17947426715142878, + 0.0968678596262082 + ], + [ + -0.04393841633121413, + 0.99903259114043, + 0.0018158770727541174, + 0.06422755229242755 + ], + [ + -0.17922274202112654, + -0.009670507820921945, + 0.9837609923253281, + 0.3423701427538364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9805457503468437, + 0.045067892794558556, + 0.19104689611664386, + 0.0980586224994579 + ], + [ + -0.046380179312046674, + 0.9989209759333793, + 0.002400584780349424, + 0.06518550237275349 + ], + [ + -0.19073256262035573, + -0.011214672503618833, + 0.9815779748328244, + 0.3513384455181457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776973370077081, + 0.047269449154428024, + 0.20463019421550033, + 0.10019237824595598 + ], + [ + -0.04908565903732195, + 0.9987873215006285, + 0.0038058489817809063, + 0.06755571308337488 + ], + [ + -0.2042021431937192, + -0.013765376356543704, + 0.9788319565323023, + 0.36029623547247586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9743208039706551, + 0.04958200793205074, + 0.2196374181222376, + 0.10255296972986064 + ], + [ + -0.05223079637739825, + 0.998615383490586, + 0.006265761384930319, + 0.06994904112186374 + ], + [ + -0.21902263549633252, + -0.017576698932853664, + 0.9755614510602931, + 0.36958140369205755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698339933878807, + 0.052048688884097936, + 0.23814482831832146, + 0.10555527952875715 + ], + [ + -0.0561335407186492, + 0.9983691157391537, + 0.010398766494561163, + 0.0720484315739458 + ], + [ + -0.2372151995039613, + -0.02345298965307056, + 0.9711739835892583, + 0.3805778349844521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9652370350541465, + 0.05385962224438621, + 0.2557667047361179, + 0.10816528191057168 + ], + [ + -0.05973029220521476, + 0.9980982799677122, + 0.01523534438646745, + 0.07285565168445816 + ], + [ + -0.2544597381767107, + -0.029982738653875882, + 0.9666184754233975, + 0.3910379441874282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9618708835996563, + 0.05537099295338473, + 0.26784035622469676, + 0.10983225667532392 + ], + [ + -0.06259395605985763, + 0.9978676458047481, + 0.018497516613484734, + 0.07490100414129354 + ], + [ + -0.2662449998553829, + -0.034557410137997166, + 0.9632857236856369, + 0.40106111757019763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9599644527883817, + 0.054709696762935384, + 0.2747273165573645, + 0.11095150877560918 + ], + [ + -0.06421958956999167, + 0.9976039244912716, + 0.02573429919533881, + 0.07751892202033671 + ], + [ + -0.272661133457199, + -0.04234688795792504, + 0.96117773974542, + 0.41094241266356174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.959228597493123, + 0.05271485086942851, + 0.2776718247305449, + 0.11182678729808827 + ], + [ + -0.06491814104654646, + 0.9972789561737107, + 0.03493305792705433, + 0.08015782835562968 + ], + [ + -0.2750747765870896, + -0.05153472684402379, + 0.9600406445639033, + 0.42091823129371664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9592117081109408, + 0.050635260154681165, + 0.27811682698455925, + 0.11297041670653563 + ], + [ + -0.06504616922240618, + 0.9969627059464662, + 0.04282941537530427, + 0.08183259791367947 + ], + [ + -0.2751034258099699, + -0.05917291087117489, + 0.9595919297944573, + 0.43145068767641465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9594122725254143, + 0.04878320517357568, + 0.2777558104173756, + 0.1145973364544208 + ], + [ + -0.0643876409692216, + 0.9968017795104784, + 0.047333329221198206, + 0.0827247435948314 + ], + [ + -0.274558414582469, + -0.06329621835257253, + 0.959484896037569, + 0.4414541069310157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9596336043928115, + 0.046794989685789934, + 0.277332966414683, + 0.11663286765433423 + ], + [ + -0.06375173063533834, + 0.9965871185572243, + 0.05243884025041382, + 0.08461459352874436 + ], + [ + -0.27393258689148353, + -0.06800252985085167, + 0.9593417502500472, + 0.45113350933971313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9599138092593161, + 0.04399612109421812, + 0.2768209170599879, + 0.11978388879369421 + ], + [ + -0.06307838922171954, + 0.9961787779317892, + 0.06040661562710491, + 0.0878866096021305 + ], + [ + -0.2731054660867539, + -0.07544656206210085, + 0.9590209698784209, + 0.4620237385612754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9602923646695127, + 0.04035416977918531, + 0.2760617962320554, + 0.1234747275839595 + ], + [ + -0.06213397393469135, + 0.9955672897784723, + 0.07060552957262649, + 0.09051304178796107 + ], + [ + -0.27198886675840117, + -0.08495476740348727, + 0.9585430318222029, + 0.47274570785830583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9604607716557428, + 0.038359475708249706, + 0.27576014348314243, + 0.1263238107325309 + ], + [ + -0.062009186446761656, + 0.9950575669690839, + 0.07755836005085466, + 0.0912631489532169 + ], + [ + -0.2714221194130387, + -0.09159142449462972, + 0.9580923984942051, + 0.48436538079803915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.960553913591439, + 0.037437528657904735, + 0.27556235325631656, + 0.1283608335089119 + ], + [ + -0.062302288187152215, + 0.9946800158146455, + 0.0820371319929081, + 0.09259921902264487 + ], + [ + -0.271025098414917, + -0.09596925334171019, + 0.9577762256614117, + 0.4957248461234908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9605971300944649, + 0.03737697775156938, + 0.2754198888759421, + 0.1296189234489845 + ], + [ + -0.062902222104117, + 0.9944417611829008, + 0.08443277840871256, + 0.09490664436523509 + ], + [ + -0.27073319727850503, + -0.09843040764727694, + 0.9576089967944896, + 0.5067399422699005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9606094654368061, + 0.03748553553906205, + 0.27536210621391516, + 0.13026645190233205 + ], + [ + -0.06353881586619861, + 0.9942401574403237, + 0.08630949085333435, + 0.0980301085260476 + ], + [ + -0.2705407063484811, + -0.10040589603399898, + 0.9574582926948175, + 0.5180628359172357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9606099715882918, + 0.037394974268018064, + 0.2753726536616078, + 0.1307365758116817 + ], + [ + -0.0639679352818192, + 0.9940506178681053, + 0.0881559548290371, + 0.09934390790836792 + ], + [ + -0.27043776685389653, + -0.10229850935146859, + 0.9572870150814463, + 0.5301147671326742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9606492912850906, + 0.03703084042368552, + 0.2752846817586637, + 0.13149133202823904 + ], + [ + -0.06395502723001333, + 0.9939332383474435, + 0.08947889248405155, + 0.10002624140066982 + ], + [ + -0.27030111661896894, + -0.10356367396765984, + 0.9571895694108137, + 0.5418871684725812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.960759416789196, + 0.036321529437728886, + 0.27499470822215527, + 0.13281885532333293 + ], + [ + -0.06332059187548003, + 0.9939316772422094, + 0.08994622626340398, + 0.10065992663811471 + ], + [ + -0.27005896707093996, + -0.10382951157446887, + 0.9572291192973521, + 0.5527883222168672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9608893168531497, + 0.03542177080080529, + 0.2746580035440858, + 0.13527021760227087 + ], + [ + -0.062458723399431065, + 0.9939518943165372, + 0.09032463482284975, + 0.10361527680553875 + ], + [ + -0.2697973843994808, + -0.1039467649227383, + 0.9572901552994768, + 0.5641195287208721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9609751561686931, + 0.034601400408305116, + 0.27446218740719075, + 0.13816164865702674 + ], + [ + -0.06171661047185541, + 0.993956712943087, + 0.09078057494441703, + 0.10613308919145639 + ], + [ + -0.26966239859947294, + -0.10417675309375789, + 0.957303188596184, + 0.5748856977930529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9610609736326303, + 0.033880799899437306, + 0.2742515202482474, + 0.141226803778024 + ], + [ + -0.061120643949804945, + 0.9939372116968253, + 0.09139521917201943, + 0.10793538494063264 + ], + [ + -0.269492248206626, + -0.10459880784461448, + 0.9573050807104408, + 0.5861909516021283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9611634763752864, + 0.03333803162263065, + 0.27395865989178536, + 0.14411147666929186 + ], + [ + -0.06075481108561539, + 0.993884579826815, + 0.09220788964306069, + 0.10861142042821549 + ], + [ + -0.26920925803568796, + -0.10527116238554675, + 0.9573110036753315, + 0.598029551937268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9616261358832281, + 0.033513851467931705, + 0.27230864207012717, + 0.14550605317469403 + ], + [ + -0.06069780178209361, + 0.9939050808251776, + 0.0920242748883076, + 0.11082324374056943 + ], + [ + -0.2675648550260532, + -0.10502148384822287, + 0.9577993194219782, + 0.6087562307084715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.962201148352402, + 0.0339141631833179, + 0.2702198727793617, + 0.14641444198224857 + ], + [ + -0.06077117207346633, + 0.9939351937487909, + 0.09164985145853055, + 0.11373827016881147 + ], + [ + -0.265472813587637, + -0.10460717070606992, + 0.9584265882594947, + 0.6195831348318048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629295592821044, + 0.034219266539092866, + 0.2675737387306513, + 0.14706946905279666 + ], + [ + -0.06072703561871212, + 0.9939584618198968, + 0.09142649135556202, + 0.11647060442071547 + ], + [ + -0.2628286342956871, + -0.1042862309902487, + 0.9591900182029173, + 0.6307396758271323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9639164190124168, + 0.03383732221206532, + 0.26404577781853705, + 0.14783984900008273 + ], + [ + -0.06009230668405476, + 0.9939443539106602, + 0.09199747826168996, + 0.11738687666247329 + ], + [ + -0.25933386172204526, + -0.10454499966348214, + 0.9601126450629082, + 0.6427063514870544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9658520607454447, + 0.03269787360276493, + 0.25702265623021564, + 0.14900444955721398 + ], + [ + -0.05821694674571903, + 0.9940267575164228, + 0.0923124718171557, + 0.11820648834240392 + ], + [ + -0.2524689760453433, + -0.10412326542730331, + 0.9619863625495798, + 0.6532367870644611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9678530982362812, + 0.031990275005452984, + 0.24947345057041093, + 0.15097969599203087 + ], + [ + -0.056647935733934396, + 0.9941191848700944, + 0.09229332397472334, + 0.12054538863101914 + ], + [ + -0.24505385451266792, + -0.10345853555069631, + 0.9639735161352669, + 0.6644633270933478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9694254238584588, + 0.031511591740260275, + 0.24335440649974546, + 0.15297567911214158 + ], + [ + -0.05547081081501186, + 0.9941907891627959, + 0.09223699849508799, + 0.1235103365763597 + ], + [ + -0.23903417480430147, + -0.10291595760547953, + 0.9655418007242226, + 0.6744101291902209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9710345179248993, + 0.029999502743854697, + 0.23704850734286473, + 0.15513508119499853 + ], + [ + -0.053358728956224566, + 0.9942587983921989, + 0.0927485194700013, + 0.12602672827606146 + ], + [ + -0.23290515460705222, + -0.10271062094458637, + 0.9670603483250892, + 0.6848956545631103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9726938362082883, + 0.029404885625674927, + 0.23022174898072673, + 0.15693522423160494 + ], + [ + -0.05220008790202501, + 0.9942444739377934, + 0.09355787977066225, + 0.12689818020754096 + ], + [ + -0.22614564295034434, + -0.10302076851539115, + 0.9686304090978528, + 0.6956519349724388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9744312206290411, + 0.028925926068874484, + 0.22281626301609014, + 0.1581507160970395 + ], + [ + -0.050983194126253906, + 0.994276725022618, + 0.09388561122441688, + 0.12817695429632386 + ], + [ + -0.21882529602420775, + -0.10284495553674788, + 0.970329018910886, + 0.7057236307078311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762425108263414, + 0.028401401132739118, + 0.21481136019582056, + 0.15878371362096272 + ], + [ + -0.04955341684693082, + 0.9943634395776999, + 0.09373264591379543, + 0.13018541367532221 + ], + [ + -0.21093842450884956, + -0.10215043046851974, + 0.972147247396618, + 0.7150651292789331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.978128303676563, + 0.027706566070362752, + 0.2061488970220266, + 0.15906906887662714 + ], + [ + -0.047959224168245974, + 0.9944254590592768, + 0.09390377623890665, + 0.13280769852892652 + ], + [ + -0.20239796037507252, + -0.10173668252570132, + 0.9740044728155386, + 0.724367534699264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.979951367795309, + 0.026868563739568176, + 0.19741681042574893, + 0.159533721518609 + ], + [ + -0.04631722542122416, + 0.994440284934835, + 0.0945686751942948, + 0.1342327292928625 + ], + [ + -0.19377830473348362, + -0.10181650151766797, + 0.9757475947361184, + 0.7342796381089608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817041535523893, + 0.025762516530206097, + 0.188661728074397, + 0.16014003013890432 + ], + [ + -0.044395663497354604, + 0.99446623908653, + 0.09521514784803028, + 0.1350975847746307 + ], + [ + -0.18516473735735026, + -0.10184886871793652, + 0.97741538149359, + 0.7440417262788462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9836017306472111, + 0.02413627067303522, + 0.17873185475960676, + 0.1611313665952066 + ], + [ + -0.04176600509328698, + 0.9945487965918056, + 0.09554209551992686, + 0.13597379901554799 + ], + [ + -0.17545152118565036, + -0.10144028605928358, + 0.9792479931446642, + 0.754190488708693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9852972225985513, + 0.022954937982224997, + 0.16929989356704558, + 0.1618943679699928 + ], + [ + -0.03957065152592774, + 0.9946490657013533, + 0.09543269689806852, + 0.13826321244772885 + ], + [ + -0.1662033293210288, + -0.10072887829047453, + 0.9809333037474813, + 0.7621787742259574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9871506465239199, + 0.021405878191734267, + 0.15835210591036628, + 0.16316581305310837 + ], + [ + -0.03690074470658113, + 0.9947387397926083, + 0.0955676440847711, + 0.140237694722825 + ], + [ + -0.15547326492843375, + -0.10018297227899757, + 0.9827468829550359, + 0.7701655649075331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.989073241567126, + 0.0195987708690517, + 0.14611642959065285, + 0.16448794589181692 + ], + [ + -0.033901535175353284, + 0.9947991637107562, + 0.09604847626659385, + 0.14148627047858722 + ], + [ + -0.14347406988251254, + -0.0999525490460477, + 0.9845936619796745, + 0.7781700862805842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991017051954891, + 0.017571875289979742, + 0.1325761363648463, + 0.16561335908857455 + ], + [ + -0.03061160839417658, + 0.9948164935820206, + 0.09696944636685835, + 0.14169996232032422 + ], + [ + -0.13018499209263143, + -0.10015674363699549, + 0.986418012070884, + 0.7862064765571624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_081/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..68384588a1d63cbb36ad9933ecdccb44fe4b3dcd --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/orbit_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999939651109216, + -0.0004566301525541118, + 0.003444013739881743, + 0.0018989370311140365 + ], + [ + 0.0004556795768883335, + 0.9999998578723281, + 0.00027678772899791294, + 0.0025186516986988863 + ], + [ + -0.003444139640015005, + -0.0002752166918908833, + 0.9999940310611422, + 0.00834503446769822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999976816066163, + -0.0009052498730040714, + 0.00674891493851149, + 0.0035679882523897317 + ], + [ + 0.0008995839874976669, + 0.9999992404593028, + 0.0008425137788424926, + 0.003316579337573898 + ], + [ + -0.0067496724979272315, + -0.000836423030247118, + 0.9999768708913651, + 0.017016628410898432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999487882082471, + -0.001062412757887734, + 0.010064404601860862, + 0.0045748634444570495 + ], + [ + 0.001047760536674896, + 0.9999983838274342, + 0.00146100663144819, + 0.003528984300168987 + ], + [ + -0.010065940528130864, + -0.0014503867247138717, + 0.9999482852726099, + 0.025815999322656887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999105666911692, + -0.0004879148335373043, + 0.013364900241314306, + 0.004347111330956079 + ], + [ + 0.00046209836863134006, + 0.9999980217341332, + 0.0019346816062932692, + 0.00484128231544468 + ], + [ + -0.013365817761842229, + -0.001928332682717252, + 0.9999088140668738, + 0.034708033175700176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998628779358674, + 0.00019000055976908317, + 0.01655866013878658, + 0.00315404714131216 + ], + [ + -0.00022859232440578865, + 0.9999972623363792, + 0.0023287475810095503, + 0.007691747404916428 + ], + [ + -0.01655817234340115, + -0.002332213440944569, + 0.9998601840803102, + 0.04518174607461701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998106390037408, + 0.0005287124304271314, + 0.019452675859567368, + 0.0014705128234783205 + ], + [ + -0.0005820075417571053, + 0.9999960927768798, + 0.002734172305313439, + 0.009387207064824573 + ], + [ + -0.019451154262737753, + -0.0027449761637793856, + 0.9998070402351182, + 0.05465076750263075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997558442089942, + 0.0005229085202550808, + 0.022090236228724525, + -0.00016416990444071203 + ], + [ + -0.0005928590446666674, + 0.9999948309692233, + 0.003160150785623652, + 0.009988539678458608 + ], + [ + -0.0220884695738425, + -0.003172475612855913, + 0.9997509864513121, + 0.06402644048175388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997000361131982, + -3.543261311988343e-05, + 0.02449156058319395, + -0.001445676849608609 + ], + [ + -5.081556616260509e-05, + 0.9999938002664764, + 0.003520915561181742, + 0.009090576315075533 + ], + [ + -0.024491533497283665, + -0.00352110396618215, + 0.9996938364388425, + 0.07302906944500341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996367800916754, + -0.00039329127209187094, + 0.026947230097412473, + -0.0017966029827220717 + ], + [ + 0.00030092377011977874, + 0.9999940664656488, + 0.0034316873955031993, + 0.010324687922794572 + ], + [ + -0.02694841985779822, + -0.0034223318762468067, + 0.9996309670631943, + 0.08112248329811117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.99956166674767, + -0.0009169640990473038, + 0.029591105850592606, + -0.0014477257344068344 + ], + [ + 0.0008165191441011097, + 0.9999938650683583, + 0.003406335587290453, + 0.01243412301150327 + ], + [ + -0.02959404779862386, + -0.0033806807727118173, + 0.9995562832239142, + 0.08909586671531347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999472328065352, + -0.001596293341963687, + 0.0324425227008024, + -0.00046755419965457956 + ], + [ + 0.00148193434079731, + 0.9999926052292623, + 0.0035487120766001727, + 0.014999832651490142 + ], + [ + -0.0324479475812453, + -0.0034987618323407883, + 0.9994673027985487, + 0.09721541954740444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993682144506505, + -0.0020049620711181, + 0.035484532867328895, + 0.0009624436352669713 + ], + [ + 0.0018657467015669102, + 0.9999904346892122, + 0.00395594733613934, + 0.016775970047267615 + ], + [ + -0.03549212497110815, + -0.0038872428756245173, + 0.9993623959344585, + 0.106280178619691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9992511272058782, + -0.002216117580573264, + 0.03862995729548825, + 0.002093427049541567 + ], + [ + 0.002047382921815267, + 0.999988193274287, + 0.004406987088612587, + 0.01762011006939343 + ], + [ + -0.03863926760374259, + -0.004324596501040644, + 0.9992438665631879, + 0.11594420683427936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991238277699726, + -0.0020775335848582685, + 0.04180024684714083, + 0.0035358652977747276 + ], + [ + 0.0018792639526949409, + 0.9999868003357687, + 0.004781999710116393, + 0.019254923719727857 + ], + [ + -0.04180962986291821, + -0.004699256157652807, + 0.9991145439048971, + 0.1266518037263687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989858294379587, + -0.0016272207579217958, + 0.04499627467645177, + 0.004329880079459128 + ], + [ + 0.0014066871155009532, + 0.9999868463282636, + 0.004932382975069784, + 0.02194731346494735 + ], + [ + -0.04500370888618837, + -0.004864085017622848, + 0.9989749780967632, + 0.1359016342445364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988329836311078, + -0.001236418625377216, + 0.04828190219494612, + 0.005176623469277317 + ], + [ + 0.000998043418105148, + 0.9999871963595388, + 0.004960950143414082, + 0.025263940178951165 + ], + [ + -0.048287417821986506, + -0.004906973198692197, + 0.9988214289321754, + 0.1455810706099593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9986344635184587, + -0.0009452935882093677, + 0.052233271898590374, + 0.006451305678007654 + ], + [ + 0.0006828014099114739, + 0.9999870508887987, + 0.005042998806055891, + 0.026721847360368624 + ], + [ + -0.052237362638580864, + -0.005000447455513205, + 0.9986221775375361, + 0.1554987994117851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9983650619446417, + -0.0007542206106877338, + 0.05715447698599763, + 0.008255216967842968 + ], + [ + 0.0004869432750504699, + 0.9999888824634918, + 0.0046901850351800745, + 0.027753660811093272 + ], + [ + -0.0571573790032346, + -0.004654685884972026, + 0.998354329847271, + 0.16530146041278004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979929563245636, + -0.0006722008181272823, + 0.06332145981117, + 0.01070455218329492 + ], + [ + 0.0004461415508703128, + 0.9999934775788604, + 0.00358409785773973, + 0.029106419987802775 + ], + [ + -0.06332345603545417, + -0.003548654082518681, + 0.9979867468909237, + 0.1747861644441394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9974984489717494, + -0.0004563587387609655, + 0.07068688729641343, + 0.013975298208801196 + ], + [ + 0.00026088173223828305, + 0.9999961167600117, + 0.0027746000826897777, + 0.03226410886870339 + ], + [ + -0.07068787901526033, + -0.0027492183613955197, + 0.9974946945015424, + 0.18414409080204552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9967545403494086, + 0.0007767809209849976, + 0.0804970987318205, + 0.01726228368471651 + ], + [ + -0.0009709953771114391, + 0.9999967116558404, + 0.0023735723043716624, + 0.034494640395704414 + ], + [ + -0.08049499028397539, + -0.002444031281969543, + 0.9967520169281203, + 0.19461981848380253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957893747986144, + 0.0026865843271756534, + 0.09163134454343662, + 0.020156277920272872 + ], + [ + -0.0028971579072674726, + 0.9999934593573456, + 0.0021651139898867695, + 0.03596635189125719 + ], + [ + -0.09162492845424423, + -0.002421467980754647, + 0.9957906451551818, + 0.20563087374077538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9946395713049468, + 0.005063828431538531, + 0.10327865624575143, + 0.022443123580764196 + ], + [ + -0.005277196405726398, + 0.9999844684018618, + 0.0017928059409761776, + 0.036919924608560736 + ], + [ + -0.10326797370147019, + -0.0023282174860938384, + 0.9946508457800307, + 0.21745159860441096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9934225353411639, + 0.00795860960237603, + 0.11422927299747497, + 0.02307604226862045 + ], + [ + -0.00816400231153479, + 0.9999657890133763, + 0.0013303642786030127, + 0.0401918930904111 + ], + [ + -0.11421477725142204, + -0.002254181903373447, + 0.9934535234832857, + 0.22780713111419132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9920609111541291, + 0.01069847447946293, + 0.12530239903470217, + 0.023241580180302313 + ], + [ + -0.010927939639237591, + 0.9999396338122316, + 0.0011440571234075235, + 0.04300234982261401 + ], + [ + -0.12528259534061637, + -0.0025042714055629276, + 0.992117936502232, + 0.2386386210381076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9905437865083663, + 0.013111649677990516, + 0.13656899960236182, + 0.023233374775675067 + ], + [ + -0.013381575210658546, + 0.9999099023785581, + 0.0010585698767054152, + 0.045063824185843995 + ], + [ + -0.13654281546295194, + -0.002876068153578878, + 0.9906299953955696, + 0.24979216916910582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9888465617951909, + 0.014830824451297806, + 0.14819758389368265, + 0.023541772770238806 + ], + [ + -0.015115052817466194, + 0.999885447556448, + 0.0007917974281640091, + 0.04570253238985091 + ], + [ + -0.14816886448966102, + -0.0030229804724521444, + 0.988957455700147, + 0.26104574744157283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9867671499127246, + 0.01715645815298489, + 0.16123351945784453, + 0.02428846555576375 + ], + [ + -0.017394126611851413, + 0.999848708776976, + 6.258134526530357e-05, + 0.04773534886073821 + ], + [ + -0.16120805256726206, + -0.0028662694672293046, + 0.9869162823090983, + 0.27138124377745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9844137171364374, + 0.01937797138199746, + 0.1747973905375617, + 0.025317690715832397 + ], + [ + -0.019581774537182944, + 0.9998081024845881, + -0.000558848944250303, + 0.05033738113392723 + ], + [ + -0.17477467671146557, + -0.0028727045246672344, + 0.9846042656565716, + 0.28162967819960694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9817347836159831, + 0.021546143998104866, + 0.1890306279873499, + 0.026598163300832922 + ], + [ + -0.021756600847755627, + 0.999762834442744, + -0.0009618661869880908, + 0.053147274677741975 + ], + [ + -0.1890065209404966, + -0.0031683664281710712, + 0.9819707207937243, + 0.2920742834249308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9783104551892422, + 0.024690053688051845, + 0.20566733944965293, + 0.02809390602282001 + ], + [ + -0.024999442095287337, + 0.9996868659350449, + -0.0010945190231042793, + 0.05483556757523877 + ], + [ + -0.2056299617330656, + -0.004070789339756971, + 0.9786213504271247, + 0.3035818201970234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9742873594569447, + 0.027975225443755553, + 0.22356548920570432, + 0.02966063395987885 + ], + [ + -0.02830420076644519, + 0.9995978527411713, + -0.0017334976817129986, + 0.056281988208940266 + ], + [ + -0.22352407794550372, + -0.004638917611985897, + 0.9746873688634741, + 0.31634652593297563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9706456086136791, + 0.03106223217534586, + 0.23849997947854346, + 0.030021717371256723 + ], + [ + -0.03133197898383061, + 0.9995054910912501, + -0.0026608967278142583, + 0.05838685266433331 + ], + [ + -0.2384646925059086, + -0.004889888620838336, + 0.9711388569186893, + 0.32727426312347385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9670473316441952, + 0.03436798589097805, + 0.2522663273321276, + 0.029742695474574782 + ], + [ + -0.03453519510414714, + 0.9993963860348326, + -0.0037661491785685674, + 0.06142930328485907 + ], + [ + -0.25224349081584074, + -0.005070022318912963, + 0.9676505134679179, + 0.33776192007846917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9631258814371579, + 0.037581924863395545, + 0.26641346705724145, + 0.028836760900643493 + ], + [ + -0.037745418807346456, + 0.9992772164002812, + -0.004508674124796061, + 0.06455532298766571 + ], + [ + -0.26639035242469983, + -0.0057134671494356625, + 0.9638482953391456, + 0.34855653180833474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9586485567378666, + 0.04040818784495145, + 0.2817092881313864, + 0.028070803072205774 + ], + [ + -0.0409199301468468, + 0.9991541449680008, + -0.004068649658101658, + 0.06625279803675997 + ], + [ + -0.2816354096721194, + -0.007627119269443098, + 0.9594911792562072, + 0.3598793791383278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9539530054451849, + 0.04289945358304632, + 0.29687253204763686, + 0.027503874042031973 + ], + [ + -0.04383605477812318, + 0.99903259114043, + -0.0035045885247546385, + 0.06748361326651056 + ], + [ + -0.29673567986271643, + -0.009670507820921945, + 0.9549106856533218, + 0.3710381255609158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9492774929173992, + 0.04506789279455856, + 0.3111930694593243, + 0.027179324552959294 + ], + [ + -0.046319782707249076, + 0.9989209759333795, + -0.003370692845466371, + 0.06872323289585076 + ], + [ + -0.3110091946718149, + -0.011214672503618834, + 0.9503407346579574, + 0.3816141959161806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9436998926532436, + 0.047269449154428024, + 0.3274081730545129, + 0.027894006315118514 + ], + [ + -0.04917084281516852, + 0.9987873215006285, + -0.0024727770717027004, + 0.07141935467810574 + ], + [ + -0.32712801901259225, + -0.013765376356543704, + 0.9448797667378956, + 0.39236597423389696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9373169185697668, + 0.04958200793205075, + 0.3449327741057725, + 0.028924601644049613 + ], + [ + -0.05260180064876773, + 0.9986153834905862, + -0.0006053300400790442, + 0.07420341404559572 + ], + [ + -0.34448518797095634, + -0.017576698932853668, + 0.9386271969867692, + 0.40359461177929856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9292608908564988, + 0.052048688884097936, + 0.3657391566540734, + 0.03077460027796569 + ], + [ + -0.057020078142114516, + 0.9983691157391537, + 0.002796323816693919, + 0.07679900148837145 + ], + [ + -0.3649971334315567, + -0.02345298965307056, + 0.9307131942027467, + 0.41684553426025983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9210910180451238, + 0.05385962224438621, + 0.38560404246881197, + 0.03225921474449736 + ], + [ + -0.061254426364942854, + 0.9980982799677122, + 0.006907877835949141, + 0.07810850754947915 + ], + [ + -0.38449867584596326, + -0.029982738653875882, + 0.9226385010693594, + 0.4295465778883968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9147979540065939, + 0.05537099295338473, + 0.4000984334944413, + 0.032627381849349685 + ], + [ + -0.0645695929526549, + 0.9978676458047481, + 0.009535676274810903, + 0.08058313160094044 + ], + [ + -0.39871728205744744, + -0.034557410137997166, + 0.9164225632279446, + 0.4414316362460294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9106088090141907, + 0.054709696762935384, + 0.40963208617717484, + 0.03224676649642369 + ], + [ + -0.06724768794557695, + 0.9976039244912716, + 0.016252947596903877, + 0.08361081490075782 + ], + [ + -0.40776138293336583, + -0.04234688795792504, + 0.9121060221643905, + 0.45277272763143694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.90810347774106, + 0.05271485086942851, + 0.4154145137238299, + 0.031455475605245004 + ], + [ + -0.06934124435763753, + 0.9972789561737107, + 0.02502949068616127, + 0.08662688899901304 + ], + [ + -0.412964726757052, + -0.05153472684402379, + 0.9092878017347342, + 0.46389306537971564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9066557428958617, + 0.050635260154681165, + 0.41882148261881336, + 0.030823336992764433 + ], + [ + -0.07073355315119044, + 0.9969627059464662, + 0.032590296262967125, + 0.08861181768185576 + ], + [ + -0.4158991804903695, + -0.05917291087117489, + 0.9074835746648373, + 0.4753743428383374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9055338054704885, + 0.04878320517357568, + 0.42146023067797106, + 0.030638509720784024 + ], + [ + -0.07087907743577615, + 0.9968017795104784, + 0.0369102796873306, + 0.08968005489051602 + ], + [ + -0.4183117061856972, + -0.06329621835257253, + 0.9060954172769414, + 0.48627962857756707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9044344880629658, + 0.046794989685789934, + 0.4240383069282634, + 0.03085794703958944 + ], + [ + -0.07117008296318915, + 0.9965871185572243, + 0.041820263232336695, + 0.09176167300976232 + ], + [ + -0.4206341356729077, + -0.06800252985085167, + 0.9046781636806485, + 0.496850202930956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9034003524766729, + 0.043996121094218126, + 0.42653504483651394, + 0.032184046580247316 + ], + [ + -0.07191403634644598, + 0.9961787779317894, + 0.04956020353761259, + 0.09528337707452222 + ], + [ + -0.4227247029940244, + -0.07544656206210086, + 0.9031121977648316, + 0.5086057088907228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9024968414698147, + 0.04035416977918531, + 0.42880180983578137, + 0.034033390848777795 + ], + [ + -0.07280539224260751, + 0.9955672897784723, + 0.059541131863175084, + 0.0981842189681752 + ], + [ + -0.42449832272626115, + -0.08495476740348727, + 0.9014343356551331, + 0.5201573165288051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9013049393658483, + 0.038359475708249706, + 0.4314834375710295, + 0.03507004394951638 + ], + [ + -0.07403182407354039, + 0.9950575669690839, + 0.06617950922990909, + 0.09922614667097315 + ], + [ + -0.42681224830019665, + -0.09159142449462972, + 0.899690122019785, + 0.5326580513075028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.900013381788565, + 0.037437528657904735, + 0.4342514755870142, + 0.03530378121744063 + ], + [ + -0.07529534521622629, + 0.9946800158146455, + 0.07030133091020467, + 0.10084780833515294 + ], + [ + -0.4293093565137847, + -0.09596925334171019, + 0.8980441964751817, + 0.5449164436554906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8986546342139174, + 0.03737697775156938, + 0.43706156310067873, + 0.034764549311240955 + ], + [ + -0.07652936090148453, + 0.9944417611829008, + 0.07231072213344819, + 0.10343106367040102 + ], + [ + -0.4319295143028087, + -0.09843040764727694, + 0.8965201333626203, + 0.5568430438721792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8972418454273257, + 0.03748553553906205, + 0.43994534369568816, + 0.033619721203143604 + ], + [ + -0.07772218585870184, + 0.9942401574403237, + 0.07379546841362218, + 0.10682677511280847 + ], + [ + -0.4346450651272977, + -0.10040589603399898, + 0.8949873314198906, + 0.5690871772774064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8957959356609461, + 0.03739497426801807, + 0.44288966747128455, + 0.03230028265902116 + ], + [ + -0.07871599997075844, + 0.9940506178681056, + 0.07528054506073797, + 0.10839358571389894 + ], + [ + -0.4374396335518014, + -0.10229850935146861, + 0.8934100861208887, + 0.5820687515876419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8943964814636716, + 0.03703084042368552, + 0.4457394427273851, + 0.03125881849036333 + ], + [ + -0.07919032737958344, + 0.9939332383474435, + 0.07632568216320507, + 0.10927057837676767 + ], + [ + -0.44020884361279994, + -0.10356367396765984, + 0.8919028755640391, + 0.5947682546983573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8930950074471228, + 0.036321529437728886, + 0.4483994359634363, + 0.030776973894089538 + ], + [ + -0.0789029162258419, + 0.9939316772422094, + 0.07664300871929772, + 0.11000889512178888 + ], + [ + -0.4428946121642049, + -0.10382951157446887, + 0.8905412932829818, + 0.6065872724434892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8918139364332833, + 0.03542177080080529, + 0.4510135263345298, + 0.03141485266199126 + ], + [ + -0.07837830984847348, + 0.9939518943165372, + 0.07691860847587198, + 0.11303837158235276 + ], + [ + -0.44556115554283804, + -0.1039467649227383, + 0.8891964500229568, + 0.6188337083744408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8904550428733784, + 0.034601400408305116, + 0.45375385365983845, + 0.032500698897894253 + ], + [ + -0.07798876758698488, + 0.993956712943087, + 0.07725156908203812, + 0.11564318578043113 + ], + [ + -0.4483386763950141, + -0.10417675309375789, + 0.8877722880126464, + 0.6305277421366134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8890906391102378, + 0.033880799899437306, + 0.45647554901081316, + 0.03375938464586847 + ], + [ + -0.07777655065373935, + 0.9939372116968253, + 0.07771503955314321, + 0.11755138910256406 + ], + [ + -0.4510749866873082, + -0.10459880784461448, + 0.886335402532546, + 0.6427558624550229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.887750609396173, + 0.03333803162263065, + 0.45911592344880847, + 0.034832911883628054 + ], + [ + -0.07783303924909984, + 0.993884579826815, + 0.0783291770908118, + 0.11836450358576886 + ], + [ + -0.453696896085891, + -0.10527116238554675, + 0.8849164417344862, + 0.6555030952178299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8870290617244126, + 0.033513851467931705, + 0.4604956736127857, + 0.034335517352564376 + ], + [ + -0.07799611441359927, + 0.9939050808251776, + 0.07790568943458402, + 0.12072434772701063 + ], + [ + -0.45507806999754286, + -0.10502148384822287, + 0.884236641481017, + 0.6669824574640039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8865077725806928, + 0.0339141631833179, + 0.46146917414882016, + 0.033322867386788635 + ], + [ + -0.07824581053210766, + 0.9939351937487909, + 0.07726851727403003, + 0.12379819874495923 + ], + [ + -0.4560499559129376, + -0.10460717070606992, + 0.8837849158865968, + 0.6785036744214105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8862555296495324, + 0.03421926653909287, + 0.46193092336750297, + 0.03201810981105005 + ], + [ + -0.07840864059338978, + 0.993958461819897, + 0.0768027425091163, + 0.1266785179863963 + ], + [ + -0.45651201654055507, + -0.10428623099024872, + 0.8835842692012602, + 0.6902803158483153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8864485325593107, + 0.03383732221206532, + 0.4615885990240248, + 0.030765794885885045 + ], + [ + -0.0781596752192465, + 0.9939443539106602, + 0.07723785664259797, + 0.12768819107939433 + ], + [ + -0.45617985958727625, + -0.10454499966348214, + 0.8837252280841007, + 0.7027518900688006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8883290315643779, + 0.03269787360276493, + 0.45804189845662835, + 0.029678208983679538 + ], + [ + -0.07664773494836855, + 0.9940267575164228, + 0.07769124834028407, + 0.1284294189927451 + ], + [ + -0.45276556451123723, + -0.10412326542730331, + 0.8855290448029225, + 0.7133592990623014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8904204561849707, + 0.03199027500545299, + 0.45401325257356195, + 0.02936388958682032 + ], + [ + -0.07536595551858177, + 0.9941191848700947, + 0.07776258111707944, + 0.13071397010004854 + ], + [ + -0.4488556382135805, + -0.10345853555069634, + 0.8875950357373487, + 0.7245672015225096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8918139491503843, + 0.031511591740260275, + 0.45130355603162703, + 0.029155227286464802 + ], + [ + -0.07445949832275035, + 0.9941907891627959, + 0.07772038248350326, + 0.13367014918325915 + ], + [ + -0.44623274556034215, + -0.10291595760547953, + 0.8889795512045408, + 0.7346438648577024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8933123515017617, + 0.029999502743854697, + 0.44843402244869296, + 0.029088000459876223 + ], + [ + -0.07276949557431983, + 0.9942587983921989, + 0.07844770445054525, + 0.13606166698324823 + ], + [ + -0.4435060801931045, + -0.10271062094458637, + 0.8903667138752018, + 0.7452202470891501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8950062405404284, + 0.029404885625674927, + 0.4450833428640415, + 0.028627245151813724 + ], + [ + -0.07208123763977657, + 0.9942444739377934, + 0.07926046444778688, + 0.1369416713244653 + ], + [ + -0.4401910091926083, + -0.10302076851539115, + 0.891974549345715, + 0.7559582613751041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8969408198348049, + 0.028925926068874484, + 0.4412034185215779, + 0.02754093021204257 + ], + [ + -0.07123150037927485, + 0.994276725022618, + 0.0796232844839687, + 0.13820231123581184 + ], + [ + -0.4363751127960736, + -0.10284495553674788, + 0.8938678179981976, + 0.7659110266018782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8991221363997421, + 0.028401401132739118, + 0.43677539336558463, + 0.02582996824098313 + ], + [ + -0.07006570362540573, + 0.9943634395776999, + 0.07957479001972574, + 0.14014291359932599 + ], + [ + -0.43205344693850173, + -0.10215043046851974, + 0.89604414430521, + 0.775028667281623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9015699837416885, + 0.027706566070362752, + 0.4317451917654671, + 0.02372611088830623 + ], + [ + -0.06881731096437489, + 0.9944254590592768, + 0.07988857293993455, + 0.14267778376899268 + ], + [ + -0.4271249724935828, + -0.10173668252570132, + 0.8984508363294125, + 0.7839839413637237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9040161385446155, + 0.026868563739568183, + 0.42665313960342066, + 0.021793705164473126 + ], + [ + -0.06764373528251728, + 0.9944402849348353, + 0.08070219808501655, + 0.14401775574878908 + ], + [ + -0.42211271756239704, + -0.101816501517668, + 0.9008075564130174, + 0.7935013555923487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9064426497083358, + 0.025762516530206104, + 0.4215424243557966, + 0.01999800787763184 + ], + [ + -0.06620057485237243, + 0.9944662390865302, + 0.08157440288661663, + 0.14474938574746996 + ], + [ + -0.4171081474617189, + -0.10184886871793655, + 0.903132106207021, + 0.8028345152824423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9093417655660776, + 0.024136270673035226, + 0.4153492432100568, + 0.018513046607176592 + ], + [ + -0.06399890454650407, + 0.9945487965918058, + 0.08232151246569006, + 0.14536811627135748 + ], + [ + -0.4110981556927937, + -0.10144028605928361, + 0.9059294535173226, + 0.812360992525626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9119712323675876, + 0.022954937982225, + 0.40961145266725146, + 0.01683097829434413 + ], + [ + -0.062114657508767705, + 0.9946490657013535, + 0.08255304610971975, + 0.1474419622021723 + ], + [ + -0.4055246486423634, + -0.10072887829047455, + 0.9085171723318337, + 0.8197562421030744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9151834966544089, + 0.021405878191734267, + 0.40246857744456344, + 0.015567772311349676 + ], + [ + -0.05983515225209275, + 0.9947387397926083, + 0.08315403845143446, + 0.14912670102779607 + ], + [ + -0.3985711003150866, + -0.10018297227899757, + 0.9116493021216915, + 0.8268895082991599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9188483582757075, + 0.019598770869051704, + 0.3941238164263357, + 0.01428438562304235 + ], + [ + -0.05733034157861952, + 0.9947991637107564, + 0.08418940440969382, + 0.1500350401137616 + ], + [ + -0.39042403413278287, + -0.09995254904604772, + 0.9151931826181189, + 0.8338015211511662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9229357357587533, + 0.017571875289979742, + 0.3845528011317064, + 0.012738399517203569 + ], + [ + -0.05466608264497277, + 0.9948164935820206, + 0.08574242535306804, + 0.14986582249469688 + ], + [ + -0.3810528140136238, + -0.10015674363699549, + 0.9191122780358946, + 0.8404937113828885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_081/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..eb286e6c6f4152ccf0e539370360b25c2dfb8e99 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/orbit_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999950877605944, + -0.0004566301525541118, + -0.0031009584945384822, + 0.008369412388906669 + ], + [ + 0.00045748137550652174, + 0.9999998578723281, + 0.00027379940610164507, + 0.0025216060075895705 + ], + [ + 0.0031008330287418933, + -0.0002752166918908833, + 0.9999951545334109, + 0.008343923783134612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999794861934844, + -0.0009052498730040714, + -0.006340955360430872, + 0.016508934935872542 + ], + [ + 0.0009105350825834069, + 0.9999992404593028, + 0.0008306664080643248, + 0.003328291920668943 + ], + [ + 0.006340198583556806, + -0.000836423030247118, + 0.9999795509301358, + 0.01701397886296173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999536399866246, + -0.001062412757887734, + -0.009570222391977162, + 0.023986280279470595 + ], + [ + 0.0010762435257437274, + 0.9999983838274342, + 0.001440153600364754, + 0.00354960027004512 + ], + [ + 0.009568676887287941, + -0.0014503867247138717, + 0.999953167303837, + 0.025811172791285548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999177746160446, + -0.0004879148335373043, + -0.012814286792973443, + 0.03022901177946136 + ], + [ + 0.0005125840794617063, + 0.9999980217341332, + 0.0019219223141177287, + 0.004853896715175589 + ], + [ + 0.01281332370850131, + -0.001928332682717252, + 0.9999160466102172, + 0.03470088276394153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999869323001602, + 0.00019000055976908317, + -0.01616480188882943, + 0.0355064265676652 + ], + [ + -0.00015227544823843275, + 0.9999972623363792, + 0.0023349800715849497, + 0.007685585590506439 + ], + [ + 0.01616520128256001, + -0.002332213440944569, + 0.9998666146281513, + 0.045175388448901954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998035297051967, + 0.0005287124304271314, + -0.01981470292978484, + 0.04029336352636854 + ], + [ + -0.0004742157340746311, + 0.9999960927768798, + 0.002754913866414196, + 0.00936670030947736 + ], + [ + 0.01981608206652536, + -0.0027449761637793856, + 0.9997998739734831, + 0.05465785263828616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997184895547129, + 0.0005229085202550808, + -0.023720628345874177, + 0.04512914173852191 + ], + [ + -0.0004475056212894111, + 0.9999948309692233, + 0.0031839870529942857, + 0.009964972703758426 + ], + [ + 0.023722170667174608, + -0.003172475612855913, + 0.9997135559835745, + 0.06406344807495086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996117712008572, + -3.543261311988343e-05, + -0.02786226159548127, + 0.05031805857281439 + ], + [ + 0.00013352455754985507, + 0.9999938002664764, + 0.003518749750020209, + 0.009092717715097062 + ], + [ + 0.027861964178385455, + -0.00352110396618215, + 0.9996055786053728, + 0.07311633251292404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9994894253333093, + -0.00039329127209187094, + -0.03194892750730246, + 0.056437495397483904 + ], + [ + 0.0005024280458506352, + 0.9999940664656488, + 0.003408019887650503, + 0.01034808938117083 + ], + [ + 0.03194739759276668, + -0.0034223318762468067, + 0.9994836924290356, + 0.0812681023993108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999356879411423, + -0.0009169640990473038, + -0.03584671184228318, + 0.06325669149023663 + ], + [ + 0.001037555920553232, + 0.9999938650683583, + 0.003345639454222457, + 0.012494138886977396 + ], + [ + 0.03584342409388856, + -0.0033806807727118173, + 0.999351699826812, + 0.08929815722483903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9992168630743875, + -0.001596293341963687, + -0.039536216249756, + 0.07070714424160139 + ], + [ + 0.0017333636520091406, + 0.9999926052292623, + 0.0034329196382868916, + 0.01511433162714442 + ], + [ + 0.0395304439417389, + -0.0034987618323407883, + 0.9992122410516247, + 0.09746763211997654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9990715801288749, + -0.0020049620711181, + -0.04303438051008599, + 0.0786074470181567 + ], + [ + 0.002170375277887932, + 0.9999904346892122, + 0.003797367671670552, + 0.01693278473120182 + ], + [ + 0.04302635529471005, + -0.0038872428756245173, + 0.9990663752188238, + 0.10657290464553888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.998919165665648, + -0.002216117580573264, + -0.04642832420748255, + 0.08620876955437645 + ], + [ + 0.0024144918142047674, + 0.999988193274287, + 0.004217053628646076, + 0.0178079379652304 + ], + [ + 0.046418430554308644, + -0.004324596501040644, + 0.9989127224988069, + 0.11627167990217661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9987572211976394, + -0.0020775335848582685, + -0.0497965557019069, + 0.09412161003974251 + ], + [ + 0.002308941018230629, + 0.9999868003357687, + 0.004589983181427138, + 0.019444820744187526 + ], + [ + 0.04978636255987841, + -0.004699256157652807, + 0.998748834840182, + 0.12701347604531638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9985858457878821, + -0.0016272207579217958, + -0.05313812891611114, + 0.10138608731396949 + ], + [ + 0.0018833716067796677, + 0.9999868463282636, + 0.00477075275448758, + 0.022107167864728664 + ], + [ + 0.053129666886693676, + -0.004864085017622848, + 0.9985757753788393, + 0.1362964509479655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9984081050772338, + -0.001236418625377216, + -0.056389067957101545, + 0.1087033094782291 + ], + [ + 0.0015111365266722808, + 0.9999871963595388, + 0.004829449594686753, + 0.025394003137174666 + ], + [ + 0.05638237475032027, + -0.004906973198692197, + 0.9983971902161696, + 0.14600067146281256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9982591068835434, + -0.0009452935882093677, + -0.05897340030982171, + 0.11644872411873833 + ], + [ + 0.0012385302099545976, + 0.9999870508887987, + 0.004936000166358188, + 0.026827682504157117 + ], + [ + 0.058967970687394525, + -0.005000447455513205, + 0.9982473510900269, + 0.1558695500220727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9981626400210727, + -0.0007542206106877338, + -0.060586922825255525, + 0.12472358201627241 + ], + [ + 0.0010348401494097111, + 0.9999888824634918, + 0.004600440770460335, + 0.027842434749581667 + ], + [ + 0.060582779500681756, + -0.004654685884972026, + 0.9981523234092504, + 0.16550128273188983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.998140409530922, + -0.0006722008181272823, + -0.06095302295623575, + 0.1336434842943513 + ], + [ + 0.0008872480183309191, + 0.9999934775788604, + 0.0035010842165299804, + 0.029188541499586315 + ], + [ + 0.06095027196327561, + -0.003548654082518681, + 0.9981344956476584, + 0.17464000351094366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9981912017000759, + -0.0004563587387609655, + -0.060117523113151106, + 0.1433829924426374 + ], + [ + 0.000620807836580881, + 0.9999961167600117, + 0.0027168110952212952, + 0.032321280791247804 + ], + [ + 0.060116049821896486, + -0.0027492183613955197, + 0.9981876087951667, + 0.18345857537669538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.998383583613906, + 0.0007767809209849976, + -0.05682971565700521, + 0.15313268189257723 + ], + [ + -0.0006366295507056143, + 0.9999967116558404, + 0.0024842263024169834, + 0.034385159935936806 + ], + [ + 0.05683145848093675, + -0.002444031281969543, + 0.9983807951067682, + 0.19300831427240672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9986327576348559, + 0.0026865843271756534, + -0.05220534113724727, + 0.16247843345520796 + ], + [ + -0.0025564984574441914, + 0.9999934593573456, + 0.0025584288471503986, + 0.03557717844760635 + ], + [ + 0.05221187311560919, + -0.002421467980754647, + 0.9986330941835334, + 0.20281835431432474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9988795969989087, + 0.005063828431538531, + -0.04705218741901437, + 0.17120300887847625 + ], + [ + -0.004948655511427777, + 0.9999844684018618, + 0.0025639351933749374, + 0.03615685366223945 + ], + [ + 0.04706443995127667, + -0.0023282174860938384, + 0.9988891419448961, + 0.2132575926640926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9990612506542231, + 0.00795860960237603, + -0.04258260178073979, + 0.17826225483325148 + ], + [ + -0.00785537507146277, + 0.9999657890133763, + 0.00259111662091261, + 0.03894421091543723 + ], + [ + 0.04260176667353994, + -0.002254181903373447, + 0.9990895896466144, + 0.22222949381543636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992214766205064, + 0.01069847447946293, + -0.03797345525689122, + 0.18483889895654276 + ], + [ + -0.010595617051771887, + 0.9999396338122316, + 0.0029088882330953396, + 0.04125566182238388 + ], + [ + 0.03800228361068634, + -0.0025042714055629276, + 0.999274514367849, + 0.23155561541112898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999364322879469, + 0.013111649677990516, + -0.03315169374831804, + 0.19122457566313067 + ], + [ + -0.013009024245196319, + 0.9999099023785581, + 0.0033094430785668154, + 0.04283588789380448 + ], + [ + 0.03319209911783997, + -0.002876068153578878, + 0.9994448522995791, + 0.24106713766162816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994994111392976, + 0.014830824451297806, + -0.027945908077799526, + 0.19790682458073644 + ], + [ + -0.01474046452926287, + 0.999885447556448, + 0.0034366364811517385, + 0.04308439706538887 + ], + [ + 0.027993674958096827, + -0.0030229804724521444, + 0.9996035292811867, + 0.25050716238935367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9996261179199317, + 0.01715645815298489, + -0.021290380832000078, + 0.2049872531292889 + ], + [ + -0.017091455809551258, + 0.999848708776976, + 0.0032313612184417537, + 0.04459825459384437 + ], + [ + 0.021342598497766735, + -0.0028662694672293046, + 0.9997681121083549, + 0.2586579233841252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997132499786346, + 0.01937797138199746, + -0.014068121490607237, + 0.2123137128741397 + ], + [ + -0.01933554428231077, + 0.9998081024845881, + 0.003145621317697855, + 0.04666957966107426 + ], + [ + 0.01412637761291961, + -0.0028727045246672344, + 0.9998960911135972, + 0.26648921924923785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997490711153698, + 0.021546143998104866, + -0.006128497594704432, + 0.21984586348505078 + ], + [ + -0.021526204647243096, + 0.999762834442744, + 0.003301118067449514, + 0.04892604289760044 + ], + [ + 0.0061981704913932345, + -0.0031683664281710712, + 0.9999757717748647, + 0.2742455773194504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996858468086062, + 0.024690053688051845, + 0.004313807997686581, + 0.22749706655088725 + ], + [ + -0.024707190436871064, + 0.9996868659350449, + 0.003965453023772772, + 0.04982460794093182 + ], + [ + -0.004214549949398413, + -0.004070789339756971, + 0.9999828329740843, + 0.28242725140097025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9994787219473428, + 0.027975225443755553, + 0.01611431462637579, + 0.23512549293339952 + ], + [ + -0.028046100504419923, + 0.9995978527411713, + 0.004189157640351757, + 0.05041604147248798 + ], + [ + -0.015990641669512626, + -0.004638917611985897, + 0.9998613803034833, + 0.2914135520859589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9992062419558535, + 0.03106223217534586, + 0.02494040434206122, + 0.2415610489696729 + ], + [ + -0.0311742625897998, + 0.9995054910912501, + 0.004115656742429387, + 0.05167440443661915 + ], + [ + -0.024800229604638874, + -0.004889888620838336, + 0.9996804677499872, + 0.2990026519155179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9988767198719095, + 0.03436798589097805, + 0.032621159448016655, + 0.2473360914417471 + ], + [ + -0.034514816795711514, + 0.9993963860348326, + 0.003948544298246081, + 0.05378667509213877 + ], + [ + -0.032465765345881865, + -0.005070022318912963, + 0.9994599886709785, + 0.3062495868000087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984622985992282, + 0.037581924863395545, + 0.04075091654807115, + 0.25241888648791 + ], + [ + -0.037783207321154894, + 0.9992772164002812, + 0.004180194712237316, + 0.05594655844454788 + ], + [ + -0.04056436269032701, + -0.0057134671494356625, + 0.9991605920835049, + 0.3135697856794003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9979247480739666, + 0.04040818784495145, + 0.0501335769379925, + 0.25754067888496646 + ], + [ + -0.04073911661940565, + 0.9991541449680008, + 0.00559633543791454, + 0.056675701551615776 + ], + [ + -0.049865033426048755, + -0.007627119269443098, + 0.998726842281246, + 0.32100050589471707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9973091681472571, + 0.04289945358304632, + 0.05944796053442216, + 0.2628001087295929 + ], + [ + -0.04339738764738147, + 0.99903259114043, + 0.007109752782014365, + 0.05696442173021085 + ], + [ + -0.05908544554125885, + -0.009670507820921945, + 0.9982060866392654, + 0.32813083603164467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9966702868396907, + 0.04506789279455856, + 0.06795016092657366, + 0.2682740435978589 + ], + [ + -0.04572427227446702, + 0.9989209759333795, + 0.008134787352823348, + 0.057319362860684536 + ], + [ + -0.06751022334327951, + -0.011214672503618834, + 0.9976555522146797, + 0.33471723717519125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9957909655339388, + 0.047269449154428024, + 0.07852357695382486, + 0.27461453019964066 + ], + [ + -0.0482020182609872, + 0.9987873215006285, + 0.010022566795377554, + 0.059032658862844846 + ], + [ + -0.07795459188882822, + -0.013765376356543704, + 0.9968618740914958, + 0.34083585561734253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9946537902828448, + 0.04958200793205075, + 0.09058400501963457, + 0.28109738175125487 + ], + [ + -0.05096610869889894, + 0.9986153834905862, + 0.013029643895446277, + 0.06068508920225331 + ], + [ + -0.08981254500381973, + -0.017576698932853668, + 0.9958035782294424, + 0.34690738240430036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9929741502400413, + 0.052048688884097936, + 0.10626980258057568, + 0.28806139605649683 + ], + [ + -0.05423799250281913, + 0.9983691157391537, + 0.017814289418463785, + 0.061907361346171585 + ], + [ + -0.10516927842451082, + -0.02345298965307056, + 0.9941777407244646, + 0.35391482755535514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.991177408325476, + 0.05385962224438621, + 0.12110526956695498, + 0.29457202884031497 + ], + [ + -0.057079565943500596, + 0.9980982799677122, + 0.023275452244718497, + 0.061876203497618514 + ], + [ + -0.11962135418433612, + -0.029982738653875882, + 0.9923667502521026, + 0.3603946001138664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9899289056956718, + 0.05537099295338473, + 0.13028743150252797, + 0.3002491732249192 + ], + [ + -0.059380919943686224, + 0.9978676458047481, + 0.027093685661627127, + 0.06316758556909383 + ], + [ + -0.1285094082735238, + -0.034557410137997166, + 0.991106007140378, + 0.3673541638731966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9894514949850247, + 0.054709696762935384, + 0.13413645347930972, + 0.30554955779978177 + ], + [ + -0.05986232381228762, + 0.9976039244912716, + 0.03468302217809487, + 0.06532743676643868 + ], + [ + -0.13191755478211445, + -0.04234688795792504, + 0.9903557440741112, + 0.3751458440136774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9895893149122578, + 0.05271485086942851, + 0.1339183792811956, + 0.31075543394822036 + ], + [ + -0.0590897560300109, + 0.9972789561737107, + 0.04408042995920099, + 0.06772458131407788 + ], + [ + -0.13123028821046634, + -0.05153472684402379, + 0.9900115066933868, + 0.38379915049564844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9900722993115818, + 0.050635260154681165, + 0.1311217471091105, + 0.31632493408886075 + ], + [ + -0.05788757621896861, + 0.9969627059464662, + 0.05209982218197439, + 0.0692513521652776 + ], + [ + -0.12808540375613012, + -0.05917291087117489, + 0.9899963110858855, + 0.3934920359698835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9906389805135505, + 0.04878320517357568, + 0.12749356524964817, + 0.3224076573965179 + ], + [ + -0.05637600992950965, + 0.9968017795104784, + 0.056638837109986205, + 0.07009897628184801 + ], + [ + -0.12432278870545539, + -0.06329621835257253, + 0.9902209010876121, + 0.4027830162202285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9912033565411682, + 0.046794989685789934, + 0.12379876785262732, + 0.3289036908042747 + ], + [ + -0.05476359911938193, + 0.9965871185572243, + 0.0617661989869928, + 0.07196147855375665 + ], + [ + -0.12048590869065787, + -0.06800252985085167, + 0.99038315905556, + 0.4117714382568955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9917980322129751, + 0.043996121094218126, + 0.12000418587338588, + 0.33652791655944114 + ], + [ + -0.05262429220835552, + 0.9961787779317894, + 0.0697031295416293, + 0.07528416370493327 + ], + [ + -0.11647895590208936, + -0.07544656206210086, + 0.9903234164175709, + 0.42201671135827845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9924352754365771, + 0.04035416977918531, + 0.11594725115568276, + 0.34471083190253393 + ], + [ + -0.04980274991459027, + 0.9955672897784723, + 0.07978381805913225, + 0.07808239921542304 + ], + [ + -0.11221368085073706, + -0.08495476740348727, + 0.990045846072468, + 0.43216244306264745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9929253525526096, + 0.038359475708249706, + 0.11237346164314822, + 0.3520166071669376 + ], + [ + -0.048263310523353274, + 0.9950575669690839, + 0.08678186028712241, + 0.07876346968071099 + ], + [ + -0.10848915667292411, + -0.09159142449462972, + 0.9898692407805397, + 0.44309030375561687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9933460773954187, + 0.037437528657904735, + 0.10891281821311614, + 0.3584963219082338 + ], + [ + -0.04750945001583443, + 0.9946800158146455, + 0.09140305409651102, + 0.07988528397796191 + ], + [ + -0.10491149928548175, + -0.09596925334171019, + 0.9898401283695802, + 0.45372604933375543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9937151566404478, + 0.03737697775156938, + 0.10551373842874054, + 0.3641871516307755 + ], + [ + -0.04738758737810999, + 0.9944417611829008, + 0.09402127513458011, + 0.08185967536614715 + ], + [ + -0.10141303676318926, + -0.09843040764727694, + 0.9899630552828013, + 0.4639990913059223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9940571132419154, + 0.03748553553906205, + 0.1022022027086493, + 0.36926215436021964 + ], + [ + -0.047376411028613084, + 0.9942401574403237, + 0.09613524333504549, + 0.084625949986072 + ], + [ + -0.09800985303120312, + -0.10040589603399898, + 0.9901074309136418, + 0.47455870945146467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9943886319407825, + 0.03739497426801807, + 0.09895890342174198, + 0.3741584965573779 + ], + [ + -0.04715319529808078, + 0.9940506178681056, + 0.09818322305373406, + 0.08562892081452103 + ], + [ + -0.09469859999028728, + -0.10229850935146861, + 0.9902359265065814, + 0.4858263902945645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9947297787441289, + 0.03703084042368552, + 0.09561058590539005, + 0.379346883638712 + ], + [ + -0.046577861395010446, + 0.9939332383474435, + 0.09963543815345723, + 0.0860966876687188 + ], + [ + -0.09134095525843602, + -0.10356367396765984, + 0.9904198076203832, + 0.496825547047504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9950917756644081, + 0.036321529437728886, + 0.09204946770274991, + 0.3851215135220436 + ], + [ + -0.04554145828536224, + 0.9939316772422094, + 0.1001288996830145, + 0.08665517556932198 + ], + [ + -0.08785404704564284, + -0.10382951157446887, + 0.9907073730138023, + 0.506984896773879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9954517201443469, + 0.03542177080080529, + 0.08843738471368692, + 0.3920247130458526 + ], + [ + -0.04429576047157628, + 0.9939518943165372, + 0.10048640399980756, + 0.0895983862169361 + ], + [ + -0.08434309969349117, + -0.1039467649227383, + 0.9910001572130004, + 0.5175820913423654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9957824712013144, + 0.034601400408305116, + 0.08497066045399243, + 0.39936074052096393 + ], + [ + -0.043150873918079445, + 0.993956712943087, + 0.10093589488125453, + 0.09208237035122861 + ], + [ + -0.08096463504709661, + -0.10417675309375789, + 0.9912577525480105, + 0.5275819394908964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9960982739075244, + 0.033880799899437306, + 0.08148815936456597, + 0.40687070986721285 + ], + [ + -0.04211590517573157, + 0.9939372116968253, + 0.10156313177314436, + 0.09382260904785455 + ], + [ + -0.07755307376035708, + -0.10459880784461448, + 0.991486061499508, + 0.5381312729399673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9964020024235215, + 0.03333803162263065, + 0.07792063407034998, + 0.4142032169265062 + ], + [ + -0.04126359602803901, + 0.993884579826815, + 0.1024243995604098, + 0.09438463774516026 + ], + [ + -0.07402948878137487, + -0.10527116238554675, + 0.9916842325865449, + 0.5492464584940587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9967723431091967, + 0.033513851467931705, + 0.07295010467701066, + 0.42011061261669647 + ], + [ + -0.040909352067300044, + 0.9939050808251776, + 0.1023675496596984, + 0.09637423972656213 + ], + [ + -0.06907474883077812, + -0.10502148384822287, + 0.9920681261910808, + 0.5596435930287057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9971409781823773, + 0.0339141631833179, + 0.0675255445373621, + 0.4255545396874489 + ], + [ + -0.04072260117120878, + 0.9939351937487909, + 0.1021494022567153, + 0.09902543840179978 + ], + [ + -0.063651703695523, + -0.10460717070606992, + 0.9924745842859295, + 0.5702863377427555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9975189465253705, + 0.03421926653909287, + 0.06152229775001865, + 0.43077732426606674 + ], + [ + -0.04039136778684947, + 0.993958461819897, + 0.10205446381678976, + 0.10153081659320935 + ], + [ + -0.05765837954038331, + -0.10428623099024872, + 0.9928745607047379, + 0.5814402260019003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9979347606575143, + 0.03383732221206532, + 0.054600815900012784, + 0.43617067646796687 + ], + [ + -0.039316214321375456, + 0.9939443539106602, + 0.10261021694040161, + 0.10241451174918514 + ], + [ + -0.050798117709870874, + -0.10454499966348214, + 0.9932219763388731, + 0.5936810085816211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9984936471148322, + 0.03269787360276493, + 0.04406002420764801, + 0.44214670730320205 + ], + [ + -0.03708091964341654, + 0.9940267575164228, + 0.10264409744250048, + 0.10356778895965146 + ], + [ + -0.04044059927497868, + -0.10412326542730331, + 0.9937418696658787, + 0.605542063220491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9989436318337963, + 0.03199027500545299, + 0.03298852412250231, + 0.44894940418424645 + ], + [ + -0.03521753657451465, + 0.9941191848700947, + 0.10240493831276853, + 0.10615584933862472 + ], + [ + -0.029518562572187556, + -0.10345853555069634, + 0.9941956476898185, + 0.6183309887778778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9992293357817312, + 0.031511591740260275, + 0.023404147051240266, + 0.4556950235384245 + ], + [ + -0.0337465603588544, + 0.9941907891627959, + 0.10220491381437538, + 0.10926341529671242 + ], + [ + -0.02004754790858759, + -0.10291595760547953, + 0.9944880097281217, + 0.6294706501791812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9994570066152916, + 0.029999502743854697, + 0.013627977205845443, + 0.4626188415016942 + ], + [ + -0.031238925642510792, + 0.9942587983921989, + 0.10234046777498494, + 0.11223897663157162 + ], + [ + -0.010479573097377109, + -0.10271062094458637, + 0.9946560746775112, + 0.6412367473310301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995620293959904, + 0.029404885625674927, + 0.003331980058547936, + 0.4691927024147533 + ], + [ + -0.02959169020829424, + 0.9942444739377934, + 0.10296726622950214, + 0.11329851174059323 + ], + [ + -0.00028506207381527143, + -0.10302076851539115, + 0.9946791643510546, + 0.6535293624907226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995530772240063, + 0.028925926068874484, + -0.007545635366110791, + 0.4751983407353361 + ], + [ + -0.02799491444206848, + 0.994276725022618, + 0.10310227370760991, + 0.11478043786025241 + ], + [ + 0.01048477836683066, + -0.10284495553674788, + 0.9946421389340204, + 0.6653818529656383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994155686823327, + 0.028401401132739118, + -0.0190231829373313, + 0.4806362462339928 + ], + [ + -0.026302800364360286, + 0.9943634395776999, + 0.10271082087199598, + 0.11705725114552436 + ], + [ + 0.02183308884153902, + -0.10215043046851974, + 0.9945293388265296, + 0.6767578803893639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9991304363021122, + 0.027706566070362752, + -0.031156338862895917, + 0.48573988710850885 + ], + [ + -0.02437712700345069, + 0.9944254590592768, + 0.10258538908540706, + 0.12002449566836593 + ], + [ + 0.03382494543689036, + -0.10173668252570132, + 0.99423614925975, + 0.688382325889896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9986990036207106, + 0.026868563739568183, + -0.043340286680789916, + 0.4910093480949014 + ], + [ + -0.022287754226313277, + 0.9944402849348353, + 0.10291635297790132, + 0.12184036264644812 + ], + [ + 0.04586454162583278, + -0.101816501517668, + 0.9937453616697568, + 0.7007173513758436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9981247709650911, + 0.025762516530206104, + -0.05552687932808532, + 0.49640500461939646 + ], + [ + -0.0199297873451119, + 0.9944662390865302, + 0.10314893549364061, + 0.12320480468544842 + ], + [ + 0.057876983009340716, + -0.10184886871793655, + 0.9931148285966802, + 0.7129767143271515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973326348025915, + 0.024136270673035226, + -0.06888436684559844, + 0.5022052819130428 + ], + [ + -0.016962901676262878, + 0.9945487965918058, + 0.10288319184644663, + 0.12482942491497354 + ], + [ + 0.07099208071639007, + -0.10144028605928361, + 0.9923053929309105, + 0.726081621693022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9963922078342277, + 0.022954937982225, + -0.08170458365028067, + 0.5077323244124556 + ], + [ + -0.014527377955301105, + 0.9946490657013535, + 0.10228485415333424, + 0.12772680858627375 + ], + [ + 0.08361533027488047, + -0.10072887829047455, + 0.9913940536544315, + 0.7369493121516971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9951486425443682, + 0.021405878191734267, + -0.09602586954015115, + 0.5137798783373808 + ], + [ + -0.011575101918918378, + 0.9947387397926083, + 0.10178829289943128, + 0.1305030007861641 + ], + [ + 0.09769952025300914, + -0.10018297227899757, + 0.9901606818126428, + 0.7484225964620504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9935596408402251, + 0.019598770869051704, + -0.111602546000823, + 0.5198665946627876 + ], + [ + -0.008219472456315812, + 0.9947991637107564, + 0.10152371226920354, + 0.13270567326461255 + ], + [ + 0.11301185940414957, + -0.09995254904604772, + 0.988553391361951, + 0.7604622231673369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9915621937934156, + 0.017571875289979742, + -0.1284353730028537, + 0.5257265736517637 + ], + [ + -0.004471003619392012, + 0.9948164935820206, + 0.10158815986033422, + 0.13402008798743067 + ], + [ + 0.12955472189860212, + -0.10015674363699549, + 0.9865009887160827, + 0.7731050007027004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_081/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..73f84e4d3272ab196b2ad3f1e586b3b97bd6271c --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/pan_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999939651109216, + -0.0004566301525541118, + 0.003444013739881743, + 0.005134101651344014 + ], + [ + 0.0004556795768883335, + 0.9999998578723281, + 0.00027678772899791294, + 0.0025200115975058442 + ], + [ + -0.003444139640015005, + -0.0002752166918908833, + 0.9999940310611422, + 0.007918551976435541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999976816066163, + -0.0009052498730040714, + 0.00674891493851149, + 0.010038287829340253 + ], + [ + 0.0008995839874976669, + 0.9999992404593028, + 0.0008425137788424926, + 0.003321722960953025 + ], + [ + -0.0067496724979272315, + -0.000836423030247118, + 0.9999768708913651, + 0.01616344960999143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999487882082471, + -0.001062412757887734, + 0.010064404601860862, + 0.014280256118301598 + ], + [ + 0.001047760536674896, + 0.9999983838274342, + 0.00146100663144819, + 0.003537438671322563 + ], + [ + -0.010065940528130864, + -0.0014503867247138717, + 0.9999482852726099, + 0.024535805926295073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999105666911692, + -0.0004879148335373043, + 0.013364900241314306, + 0.017287592472564114 + ], + [ + 0.00046209836863134006, + 0.9999980217341332, + 0.0019346816062932692, + 0.004844303969031455 + ], + [ + -0.013365817761842229, + -0.001928332682717252, + 0.9999088140668738, + 0.03300075251688775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998628779358674, + 0.00019000055976908317, + 0.01655866013878658, + 0.01932981741101527 + ], + [ + -0.00022859232440578865, + 0.9999972623363792, + 0.0023287475810095503, + 0.0076836998120425395 + ], + [ + -0.01655817234340115, + -0.002332213440944569, + 0.9998601840803102, + 0.04304893723773268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998106390037408, + 0.0005287124304271314, + 0.019452675859567368, + 0.020882400855607483 + ], + [ + -0.0005820075417571053, + 0.9999960927768798, + 0.002734172305313439, + 0.009369938482063552 + ], + [ + -0.019451154262737753, + -0.0027449761637793856, + 0.9998070402351182, + 0.052098756712663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997558442089942, + 0.0005229085202550808, + 0.022090236228724525, + 0.02248491705394307 + ], + [ + -0.0005928590446666674, + 0.9999948309692233, + 0.003160150785623652, + 0.009967296216755357 + ], + [ + -0.0220884695738425, + -0.003172475612855913, + 0.9997509864513121, + 0.06106347007765825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997000361131982, + -3.543261311988343e-05, + 0.02449156058319395, + 0.024441935522745803 + ], + [ + -5.081556616260509e-05, + 0.9999938002664764, + 0.003520915561181742, + 0.009079649364857176 + ], + [ + -0.024491533497283665, + -0.00352110396618215, + 0.9996938364388425, + 0.06966530957261123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996367800916754, + -0.00039329127209187094, + 0.026947230097412473, + 0.027330036981552803 + ], + [ + 0.00030092377011977874, + 0.9999940664656488, + 0.0034316873955031993, + 0.010323273486754029 + ], + [ + -0.02694841985779822, + -0.0034223318762468067, + 0.9996309670631943, + 0.07736198273982968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.99956166674767, + -0.0009169640990473038, + 0.029591105850592606, + 0.030917812177415533 + ], + [ + 0.0008165191441011097, + 0.9999938650683583, + 0.003406335587290453, + 0.01244974399813301 + ], + [ + -0.02959404779862386, + -0.0033806807727118173, + 0.9995562832239142, + 0.08493778541142084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999472328065352, + -0.001596293341963687, + 0.0324425227008024, + 0.03513642347605601 + ], + [ + 0.00148193434079731, + 0.9999926052292623, + 0.0035487120766001727, + 0.015040716370402529 + ], + [ + -0.0324479475812453, + -0.0034987618323407883, + 0.9994673027985487, + 0.09265638504066555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993682144506505, + -0.0020049620711181, + 0.035484532867328895, + 0.03980425432475483 + ], + [ + 0.0018657467015669102, + 0.9999904346892122, + 0.00395594733613934, + 0.01683454801632596 + ], + [ + -0.03549212497110815, + -0.0038872428756245173, + 0.9993623959344585, + 0.10131549051514151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9992511272058782, + -0.002216117580573264, + 0.03862995729548825, + 0.04417270784042628 + ], + [ + 0.002047382921815267, + 0.999988193274287, + 0.004406987088612587, + 0.017690126508804555 + ], + [ + -0.03863926760374259, + -0.004324596501040644, + 0.9992438665631879, + 0.11057098387885732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991238277699726, + -0.0020775335848582685, + 0.04180024684714083, + 0.0488526036282391 + ], + [ + 0.0018792639526949409, + 0.9999868003357687, + 0.004781999710116393, + 0.019321900405455762 + ], + [ + -0.04180962986291821, + -0.004699256157652807, + 0.9991145439048971, + 0.1208697728542306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989858294379587, + -0.0016272207579217958, + 0.04499627467645177, + 0.05288402384030374 + ], + [ + 0.0014066871155009532, + 0.9999868463282636, + 0.004932382975069784, + 0.021996207064846174 + ], + [ + -0.04500370888618837, + -0.004864085017622848, + 0.9989749780967632, + 0.12971026346602466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988329836311078, + -0.001236418625377216, + 0.04828190219494612, + 0.056967628881570025 + ], + [ + 0.000998043418105148, + 0.9999871963595388, + 0.004960950143414082, + 0.025295565898492876 + ], + [ + -0.048287417821986506, + -0.004906973198692197, + 0.9988214289321754, + 0.13897617431461384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9986344635184587, + -0.0009452935882093677, + 0.052233271898590374, + 0.06147445454103139 + ], + [ + 0.0006828014099114739, + 0.9999870508887987, + 0.005042998806055891, + 0.02673858117520448 + ], + [ + -0.052237362638580864, + -0.005000447455513205, + 0.9986221775375361, + 0.1484435444592344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9983650619446417, + -0.0007542206106877338, + 0.05715447698599763, + 0.06650258009989496 + ], + [ + 0.0004869432750504699, + 0.9999888824634918, + 0.0046901850351800745, + 0.02776237173443854 + ], + [ + -0.0571573790032346, + -0.004654685884972026, + 0.998354329847271, + 0.15773477682520207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979929563245636, + -0.0006722008181272823, + 0.06332145981117, + 0.07216441625876492 + ], + [ + 0.0004461415508703128, + 0.9999934775788604, + 0.00358409785773973, + 0.029118756407285062 + ], + [ + -0.06332345603545417, + -0.003548654082518681, + 0.9979867468909237, + 0.16662052439561958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9974984489717494, + -0.0004563587387609655, + 0.07068688729641343, + 0.07863403093845381 + ], + [ + 0.00026088173223828305, + 0.9999961167600117, + 0.0027746000826897777, + 0.03226925523169714 + ], + [ + -0.07068787901526033, + -0.0027492183613955197, + 0.9974946945015424, + 0.1752829413745298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9967545403494086, + 0.0007767809209849976, + 0.0804970987318205, + 0.08509138624694973 + ], + [ + -0.0009709953771114391, + 0.9999967116558404, + 0.0023735723043716624, + 0.034418123544771625 + ], + [ + -0.08049499028397539, + -0.002444031281969543, + 0.9967520169281203, + 0.184870251554377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957893747986144, + 0.0026865843271756534, + 0.09163134454343662, + 0.09113215726240662 + ], + [ + -0.0028971579072674726, + 0.9999934593573456, + 0.0021651139898867695, + 0.03574957695303044 + ], + [ + -0.09162492845424423, + -0.002421467980754647, + 0.9957906451551818, + 0.19485607286022766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9946395713049468, + 0.005063828431538531, + 0.10327865624575143, + 0.09654687789245468 + ], + [ + -0.005277196405726398, + 0.9999844684018618, + 0.0017928059409761776, + 0.036516988519027314 + ], + [ + -0.10326797370147019, + -0.0023282174860938384, + 0.9946508457800307, + 0.205562188147674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9934225353411639, + 0.00795860960237603, + 0.11422927299747497, + 0.10030182103466531 + ], + [ + -0.00816400231153479, + 0.9999657890133763, + 0.0013303642786030127, + 0.03954794684221734 + ], + [ + -0.11421477725142204, + -0.002254181903373447, + 0.9934535234832857, + 0.21480268206107708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9920609111541291, + 0.01069847447946293, + 0.12530239903470217, + 0.10357373208749503 + ], + [ + -0.010927939639237591, + 0.9999396338122316, + 0.0011440571234075235, + 0.0421073551618267 + ], + [ + -0.12528259534061637, + -0.0025042714055629276, + 0.992117936502232, + 0.22445918496211262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9905437865083663, + 0.013111649677990516, + 0.13656899960236182, + 0.1066542690763431 + ], + [ + -0.013381575210658546, + 0.9999099023785581, + 0.0010585698767054152, + 0.04392558230867616 + ], + [ + -0.13654281546295194, + -0.002876068153578878, + 0.9906299953955696, + 0.2343704962397457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9888465617951909, + 0.014830824451297806, + 0.14819758389368265, + 0.11003014163413188 + ], + [ + -0.015115052817466194, + 0.999885447556448, + 0.0007917974281640091, + 0.04436905594369115 + ], + [ + -0.14816886448966102, + -0.0030229804724521444, + 0.988957455700147, + 0.24429741646943298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9867671499127246, + 0.01715645815298489, + 0.16123351945784453, + 0.11379986570587032 + ], + [ + -0.017394126611851413, + 0.999848708776976, + 6.258134526530357e-05, + 0.04614707726680683 + ], + [ + -0.16120805256726206, + -0.0028662694672293046, + 0.9869162823090983, + 0.2531231169378839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9844137171364374, + 0.01937797138199746, + 0.1747973905375617, + 0.11781855985101347 + ], + [ + -0.019581774537182944, + 0.9998081024845881, + -0.000558848944250303, + 0.04848743242286384 + ], + [ + -0.17477467671146557, + -0.0028727045246672344, + 0.9846042656565716, + 0.26174788558911066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9817347836159831, + 0.021546143998104866, + 0.1890306279873499, + 0.12204781449874412 + ], + [ + -0.021756600847755627, + 0.999762834442744, + -0.0009618661869880908, + 0.051021641209880335 + ], + [ + -0.1890065209404966, + -0.0031683664281710712, + 0.9819707207937243, + 0.2704361891290613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9783104551892422, + 0.024690053688051845, + 0.20566733944965293, + 0.12640205366470414 + ], + [ + -0.024999442095287337, + 0.9996868659350449, + -0.0010945190231042793, + 0.05231103627112467 + ], + [ + -0.2056299617330656, + -0.004070789339756971, + 0.9786213504271247, + 0.2798745398494121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9742873594569447, + 0.027975225443755553, + 0.22356548920570432, + 0.13075068808842705 + ], + [ + -0.02830420076644519, + 0.9995978527411713, + -0.0017334976817129986, + 0.05333218774331278 + ], + [ + -0.22352407794550372, + -0.004638917611985897, + 0.9746873688634741, + 0.29034969495305946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9706456086136791, + 0.03106223217534586, + 0.23849997947854346, + 0.13392912872220927 + ], + [ + -0.03133197898383061, + 0.9995054910912501, + -0.0026608967278142583, + 0.05502034488299491 + ], + [ + -0.2384646925059086, + -0.004889888620838336, + 0.9711388569186893, + 0.2992067777942966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9670473316441952, + 0.03436798589097805, + 0.2522663273321276, + 0.1364637562125644 + ], + [ + -0.03453519510414714, + 0.9993963860348326, + -0.0037661491785685674, + 0.057606660291578606 + ], + [ + -0.25224349081584074, + -0.005070022318912963, + 0.9676505134679179, + 0.30767375216185544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9631258814371579, + 0.037581924863395545, + 0.26641346705724145, + 0.13832320432031717 + ], + [ + -0.037745418807346456, + 0.9992772164002812, + -0.004508674124796061, + 0.0602534052597145 + ], + [ + -0.26639035242469983, + -0.0057134671494356625, + 0.9638482953391456, + 0.31633492671348296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9586485567378666, + 0.04040818784495145, + 0.2817092881313864, + 0.14024384702884746 + ], + [ + -0.0409199301468468, + 0.9991541449680008, + -0.004068649658101658, + 0.06145245575137913 + ], + [ + -0.2816354096721194, + -0.007627119269443098, + 0.9594911792562072, + 0.3253221038352624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9539530054451849, + 0.04289945358304632, + 0.29687253204763686, + 0.14232360160886598 + ], + [ + -0.04383605477812318, + 0.99903259114043, + -0.0035045885247546385, + 0.0621954005371089 + ], + [ + -0.29673567986271643, + -0.009670507820921945, + 0.9549106856533218, + 0.3340810909353593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9492774929173992, + 0.04506789279455856, + 0.3111930694593243, + 0.14463454564093298 + ], + [ + -0.046319782707249076, + 0.9989209759333795, + -0.003370692845466371, + 0.06298244385543127 + ], + [ + -0.3110091946718149, + -0.011214672503618834, + 0.9503407346579574, + 0.3422786487936788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9436998926532436, + 0.047269449154428024, + 0.3274081730545129, + 0.14785512342508175 + ], + [ + -0.04917084281516852, + 0.9987873215006285, + -0.0024727770717027004, + 0.06516278720530544 + ], + [ + -0.32712801901259225, + -0.013765376356543704, + 0.9448797667378956, + 0.350341380991782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9373169185697668, + 0.04958200793205075, + 0.3449327741057725, + 0.1512690099283934 + ], + [ + -0.05260180064876773, + 0.9986153834905862, + -0.0006053300400790442, + 0.06733750130299383 + ], + [ + -0.34448518797095634, + -0.017576698932853668, + 0.9386271969867692, + 0.35863027191724095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9292608908564988, + 0.052048688884097936, + 0.3657391566540734, + 0.15525927168988604 + ], + [ + -0.057020078142114516, + 0.9983691157391537, + 0.002796323816693919, + 0.06917158761211503 + ], + [ + -0.3649971334315567, + -0.02345298965307056, + 0.9307131942027467, + 0.36842055600987406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9210910180451238, + 0.05385962224438621, + 0.38560404246881197, + 0.15884022625091437 + ], + [ + -0.061254426364942854, + 0.9980982799677122, + 0.006907877835949141, + 0.06971981134368439 + ], + [ + -0.38449867584596326, + -0.029982738653875882, + 0.9226385010693594, + 0.3776788079331509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9147979540065939, + 0.05537099295338473, + 0.4000984334944413, + 0.16153281666880545 + ], + [ + -0.0645695929526549, + 0.9978676458047481, + 0.009535676274810903, + 0.0715365790030762 + ], + [ + -0.39871728205744744, + -0.034557410137997166, + 0.9164225632279446, + 0.3867504488279708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9106088090141907, + 0.054709696762935384, + 0.40963208617717484, + 0.16374955367897018 + ], + [ + -0.06724768794557695, + 0.9976039244912716, + 0.016252947596903877, + 0.07398684459398716 + ], + [ + -0.40776138293336583, + -0.04234688795792504, + 0.9121060221643905, + 0.3959460503234158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.90810347774106, + 0.05271485086942851, + 0.4154145137238299, + 0.16578339590707644 + ], + [ + -0.06934124435763753, + 0.9972789561737107, + 0.02502949068616127, + 0.07650618292176144 + ], + [ + -0.412964726757052, + -0.05153472684402379, + 0.9092878017347342, + 0.40544527511069284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9066557428958617, + 0.050635260154681165, + 0.41882148261881336, + 0.16812508992291472 + ], + [ + -0.07073355315119044, + 0.9969627059464662, + 0.032590296262967125, + 0.07809244318339112 + ], + [ + -0.4158991804903695, + -0.05917291087117489, + 0.9074835746648373, + 0.4156322406923414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9055338054704885, + 0.04878320517357568, + 0.42146023067797106, + 0.17096280746528889 + ], + [ + -0.07087907743577615, + 0.9968017795104784, + 0.0369102796873306, + 0.07894196968788962 + ], + [ + -0.4183117061856972, + -0.06329621835257253, + 0.9060954172769414, + 0.42532380007429565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9044344880629658, + 0.046794989685789934, + 0.4240383069282634, + 0.17421088391790293 + ], + [ + -0.07117008296318915, + 0.9965871185572243, + 0.041820263232336695, + 0.08078948969062405 + ], + [ + -0.4206341356729077, + -0.06800252985085167, + 0.9046781636806485, + 0.43469755412622413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9034003524766729, + 0.043996121094218126, + 0.42653504483651394, + 0.17857860961082733 + ], + [ + -0.07191403634644598, + 0.9961787779317894, + 0.04956020353761259, + 0.08402305826230018 + ], + [ + -0.4227247029940244, + -0.07544656206210086, + 0.9031121977648316, + 0.4452960287634617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9024968414698147, + 0.04035416977918531, + 0.42880180983578137, + 0.18349300037580404 + ], + [ + -0.07280539224260751, + 0.9955672897784723, + 0.059541131863175084, + 0.08662966841704287 + ], + [ + -0.42449832272626115, + -0.08495476740348727, + 0.9014343356551331, + 0.45574640368590574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9013049393658483, + 0.038359475708249706, + 0.4314834375710295, + 0.18755318492558454 + ], + [ + -0.07403182407354039, + 0.9950575669690839, + 0.06617950922990909, + 0.08731006331723584 + ], + [ + -0.42681224830019665, + -0.09159142449462972, + 0.899690122019785, + 0.46706222068545794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.900013381788565, + 0.037437528657904735, + 0.4342514755870142, + 0.19079683789235544 + ], + [ + -0.07529534521622629, + 0.9946800158146455, + 0.07030133091020467, + 0.08854957029047998 + ], + [ + -0.4293093565137847, + -0.09596925334171019, + 0.8980441964751817, + 0.4781082147265212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8986546342139174, + 0.03737697775156938, + 0.43706156310067873, + 0.19325848331774284 + ], + [ + -0.07652936090148453, + 0.9944417611829008, + 0.07231072213344819, + 0.09073937215083734 + ], + [ + -0.4319295143028087, + -0.09843040764727694, + 0.8965201333626203, + 0.4888038679501995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8972418454273257, + 0.03748553553906205, + 0.43994534369568816, + 0.19510759081931647 + ], + [ + -0.07772218585870184, + 0.9942401574403237, + 0.07379546841362218, + 0.09374123845507919 + ], + [ + -0.4346450651272977, + -0.10040589603399898, + 0.8949873314198906, + 0.4998013382387132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8957959356609461, + 0.03739497426801807, + 0.44288966747128455, + 0.19677851135837676 + ], + [ + -0.07871599997075844, + 0.9940506178681056, + 0.07528054506073797, + 0.09494611235774285 + ], + [ + -0.4374396335518014, + -0.10229850935146861, + 0.8934100861208887, + 0.5115221706614689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8943964814636716, + 0.03703084042368552, + 0.4457394427273851, + 0.1987367824181954 + ], + [ + -0.07919032737958344, + 0.9939332383474435, + 0.07632568216320507, + 0.09554938949456888 + ], + [ + -0.44020884361279994, + -0.10356367396765984, + 0.8919028755640391, + 0.5229660903092535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8930950074471228, + 0.036321529437728886, + 0.4483994359634363, + 0.20127296376956313 + ], + [ + -0.0789029162258419, + 0.9939316772422094, + 0.07664300871929772, + 0.09614833446698676 + ], + [ + -0.4428946121642049, + -0.10382951157446887, + 0.8905412932829818, + 0.5335466208130628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8918139364332833, + 0.03542177080080529, + 0.4510135263345298, + 0.20493469307412424 + ], + [ + -0.07837830984847348, + 0.9939518943165372, + 0.07691860847587198, + 0.09908701935908 + ], + [ + -0.44556115554283804, + -0.1039467649227383, + 0.8891964500229568, + 0.5445592183519098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8904550428733784, + 0.034601400408305116, + 0.45375385365983845, + 0.20903356642446785 + ], + [ + -0.07798876758698488, + 0.993956712943087, + 0.07725156908203812, + 0.10158148916915706 + ], + [ + -0.4483386763950141, + -0.10417675309375789, + 0.8877722880126464, + 0.5549980958963417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8890906391102378, + 0.033880799899437306, + 0.45647554901081316, + 0.21330637680047126 + ], + [ + -0.07777655065373935, + 0.9939372116968253, + 0.07771503955314321, + 0.10335133664439726 + ], + [ + -0.4510749866873082, + -0.10459880784461448, + 0.886335402532546, + 0.5659790329866313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.887750609396173, + 0.03333803162263065, + 0.45911592344880847, + 0.21740019174290748 + ], + [ + -0.07783303924909984, + 0.993884579826815, + 0.0783291770908118, + 0.10397886608293731 + ], + [ + -0.453696896085891, + -0.10527116238554675, + 0.8849164417344862, + 0.5775023460120469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8870290617244126, + 0.033513851467931705, + 0.4604956736127857, + 0.22003207870564423 + ], + [ + -0.07799611441359927, + 0.9939050808251776, + 0.07790568943458402, + 0.10611916410245717 + ], + [ + -0.45507806999754286, + -0.10502148384822287, + 0.884236641481017, + 0.5880199544439524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8865077725806928, + 0.0339141631833179, + 0.46146917414882016, + 0.22218778241500026 + ], + [ + -0.07824581053210766, + 0.9939351937487909, + 0.07726851727403003, + 0.108952540368026 + ], + [ + -0.4560499559129376, + -0.10460717070606992, + 0.8837849158865968, + 0.5986771507617784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8862555296495324, + 0.03421926653909287, + 0.46193092336750297, + 0.22410383379536505 + ], + [ + -0.07840864059338978, + 0.993958461819897, + 0.0768027425091163, + 0.1116124415712185 + ], + [ + -0.45651201654055507, + -0.10428623099024872, + 0.8835842692012602, + 0.6097133850834774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8864485325593107, + 0.03383732221206532, + 0.4615885990240248, + 0.2261580580448416 + ], + [ + -0.0781596752192465, + 0.9939443539106602, + 0.07723785664259797, + 0.11250437674439384 + ], + [ + -0.45617985958727625, + -0.10454499966348214, + 0.8837252280841007, + 0.6216354752221381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8883290315643779, + 0.03269787360276493, + 0.45804189845662835, + 0.2286872445687132 + ], + [ + -0.07664773494836855, + 0.9940267575164228, + 0.07769124834028407, + 0.1134035902358821 + ], + [ + -0.45276556451123723, + -0.10412326542730331, + 0.8855290448029225, + 0.6324080965407203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8904204561849707, + 0.03199027500545299, + 0.45401325257356195, + 0.23203739296931944 + ], + [ + -0.07536595551858177, + 0.9941191848700947, + 0.07776258111707944, + 0.11580112401330214 + ], + [ + -0.4488556382135805, + -0.10345853555069634, + 0.8875950357373487, + 0.6439400667779118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8918139491503843, + 0.031511591740260275, + 0.45130355603162703, + 0.2353768401401106 + ], + [ + -0.07445949832275035, + 0.9941907891627959, + 0.07772038248350326, + 0.11879531765708369 + ], + [ + -0.44623274556034215, + -0.10291595760547953, + 0.8889795512045408, + 0.6540922243318553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8933123515017617, + 0.029999502743854697, + 0.44843402244869296, + 0.23888680836602108 + ], + [ + -0.07276949557431983, + 0.9942587983921989, + 0.07844770445054525, + 0.1214245379035871 + ], + [ + -0.4435060801931045, + -0.10271062094458637, + 0.8903667138752018, + 0.6648075849782521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8950062405404284, + 0.029404885625674927, + 0.4450833428640415, + 0.24204593489983017 + ], + [ + -0.07208123763977657, + 0.9942444739377934, + 0.07926046444778688, + 0.12233067251611376 + ], + [ + -0.4401910091926083, + -0.10302076851539115, + 0.891974549345715, + 0.6758641912142836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8969408198348049, + 0.028925926068874484, + 0.4412034185215779, + 0.24463148692786693 + ], + [ + -0.07123150037927485, + 0.994276725022618, + 0.0796232844839687, + 0.12365219581761884 + ], + [ + -0.4363751127960736, + -0.10284495553674788, + 0.8938678179981976, + 0.6863028856856827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8991221363997421, + 0.028401401132739118, + 0.43677539336558463, + 0.24664553959533347 + ], + [ + -0.07006570362540573, + 0.9943634395776999, + 0.07957479001972574, + 0.12572560615909845 + ], + [ + -0.43205344693850173, + -0.10215043046851974, + 0.89604414430521, + 0.6960806710731366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9015699837416885, + 0.027706566070362752, + 0.4317451917654671, + 0.2483232765871135 + ], + [ + -0.06881731096437489, + 0.9944254590592768, + 0.07988857293993455, + 0.12843141932357408 + ], + [ + -0.4271249724935828, + -0.10173668252570132, + 0.8984508363294125, + 0.7058987208150386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9040161385446155, + 0.026868563739568183, + 0.42665313960342066, + 0.2501792230396751 + ], + [ + -0.06764373528251728, + 0.9944402849348353, + 0.08070219808501655, + 0.12994838594139926 + ], + [ + -0.42211271756239704, + -0.101816501517668, + 0.9008075564130174, + 0.7163551449211135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9064426497083358, + 0.025762516530206104, + 0.4215424243557966, + 0.2521747945344408 + ], + [ + -0.06620057485237243, + 0.9944662390865302, + 0.08157440288661663, + 0.13093549132175372 + ], + [ + -0.4171081474617189, + -0.10184886871793655, + 0.903132106207021, + 0.7266825321515946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9093417655660776, + 0.024136270673035226, + 0.4153492432100568, + 0.25457353100669167 + ], + [ + -0.06399890454650407, + 0.9945487965918058, + 0.08232151246569006, + 0.13200602853168572 + ], + [ + -0.4110981556927937, + -0.10144028605928361, + 0.9059294535173226, + 0.7375225941960561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9119712323675876, + 0.022954937982225, + 0.40961145266725146, + 0.25672922564510336 + ], + [ + -0.062114657508767705, + 0.9946490657013535, + 0.08255304610971975, + 0.13445453723835832 + ], + [ + -0.4055246486423634, + -0.10072887829047455, + 0.9085171723318337, + 0.7461817037788083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9151834966544089, + 0.021405878191734267, + 0.40246857744456344, + 0.2594130010891906 + ], + [ + -0.05983515225209275, + 0.9947387397926083, + 0.08315403845143446, + 0.13663987211393333 + ], + [ + -0.3985711003150866, + -0.10018297227899757, + 0.9116493021216915, + 0.7550069215770108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9188483582757075, + 0.019598770869051704, + 0.3941238164263357, + 0.26215892849657063 + ], + [ + -0.05733034157861952, + 0.9947991637107564, + 0.08418940440969382, + 0.13813849388002108 + ], + [ + -0.39042403413278287, + -0.09995254904604772, + 0.9151931826181189, + 0.764002021879686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9229357357587533, + 0.017571875289979742, + 0.3845528011317064, + 0.26471506428406366 + ], + [ + -0.05466608264497277, + 0.9948164935820206, + 0.08574242535306804, + 0.13863880148090657 + ], + [ + -0.3810528140136238, + -0.10015674363699549, + 0.9191122780358946, + 0.7731879773478992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_081/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c61074e567838e8765e37c08667adb417b464b77 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/pull_out/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998810334246, + -0.0004566301525541118, + 0.00017152854113806557, + 0.005133887240667591 + ], + [ + 0.00045658292101556197, + 0.9999998578723281, + 0.000275295041644142, + 0.002519667478703789 + ], + [ + -0.00017165422477597667, + -0.0002752166918908833, + 0.9999999473952985, + 0.006668552042191418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999569456473, + -0.0009052498730040714, + 0.00020398415804151782, + 0.01003777786894515 + ], + [ + 0.000905078920324842, + 0.9999992404593028, + 0.0008366080122048063, + 0.003319631440922513 + ], + [ + -0.00020474134240405076, + -0.000836423030247118, + 0.9999996292386801, + 0.013663450536894727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999994051094394, + -0.001062412757887734, + 0.00024710301309320353, + 0.014279329482002497 + ], + [ + 0.0010620532126588787, + 0.9999983838274342, + 0.001450650024240791, + 0.0035319987337316602 + ], + [ + -0.0002486438028250765, + -0.0014503867247138717, + 0.9999989172767179, + 0.020785809986507378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998430661549, + -0.0004879148335373043, + 0.0002753303123862435, + 0.017286215821002184 + ], + [ + 0.0004873829793287499, + 0.9999980217341332, + 0.0019284671766669717, + 0.00483466163314812 + ], + [ + -0.00027627069545117, + -0.001928332682717252, + 0.9999981026019837, + 0.02800076200387783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999999625541605, + 0.00019000055976908317, + 0.0001969554898521695, + 0.019328586439203693 + ], + [ + -0.00019045938161307702, + 0.9999972623363792, + 0.002332176016254056, + 0.007669123711940951 + ], + [ + -0.0001965118359057217, + -0.002332213440944569, + 0.9999972610780312, + 0.036798954355994985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999843842303, + 0.0005287124304271314, + -0.00018104843391757974, + 0.020883758718861865 + ], + [ + -0.0005282134560870304, + 0.9999960927768798, + 0.0027450722246625406, + 0.009349350440378582 + ], + [ + 0.00018249908032855224, + -0.0027449761637793856, + 0.9999962158928132, + 0.0445987850934669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999995308365015, + 0.0005229085202550808, + -0.0008154099928655837, + 0.022492051891380642 + ], + [ + -0.000520318845952188, + 0.9999948309692233, + 0.003172901374651888, + 0.009939533329727154 + ], + [ + 0.0008170649151489695, + -0.003172475612855913, + 0.9999946338873077, + 0.052313517031144306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999998578194253, + -3.5432613119883425e-05, + -0.001685928231641647, + 0.02445879480506222 + ], + [ + 4.136867170421239e-05, + 0.9999938002664762, + 0.0035210392278044265, + 0.009044438972579132 + ], + [ + 0.001685793019715132, + -0.0035211039661821493, + 0.9999923799353443, + 0.059665385773257786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967928195441, + -0.00039329127209187094, + -0.002501933772350567, + 0.027358183736491747 + ], + [ + 0.00040185018699476774, + 0.9999940664656488, + 0.003421337446539131, + 0.010284783440480463 + ], + [ + 0.0025005733448839793, + -0.0034223318762468067, + 0.999991017348394, + 0.06611208379466024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999946827562619, + -0.0009169640990473038, + -0.003129478557857607, + 0.030956930659388752 + ], + [ + 0.0009275341457248904, + 0.9999938650683583, + 0.0033777960350559063, + 0.01240752154769481 + ], + [ + 0.0031263620410225297, + -0.0033806807727118173, + 0.9999893983727535, + 0.07243791793176142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999924276762973, + -0.001596293341963687, + -0.003549146042644426, + 0.035185224234142366 + ], + [ + 0.0016086911660815853, + 0.9999926052292623, + 0.00349307880317827, + 0.014992686536858828 + ], + [ + 0.003543543819086658, + -0.0034987618323407883, + 0.9999876009045527, + 0.07890655552822795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999908539978033, + -0.0020049620711180996, + -0.0037778363963285925, + 0.03986092187069976 + ], + [ + 0.0020196180420454196, + 0.999990434689212, + 0.0038796485723529605, + 0.016776353287740665 + ], + [ + 0.003770021711912521, + -0.0038872428756245164, + 0.9999853380320721, + 0.08631571044466042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999899287701002, + -0.002216117580573264, + -0.0039027145987850387, + 0.04423612695265654 + ], + [ + 0.002232957729064116, + 0.999988193274287, + 0.0043159253709895975, + 0.017619992721525972 + ], + [ + 0.0038931039224131417, + -0.004324596501040644, + 0.9999830706601752, + 0.09432125898062947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999898324559524, + -0.0020775335848582685, + -0.004002354172224393, + 0.048922644826253026 + ], + [ + 0.0020963021744118573, + 0.9999868003357687, + 0.004690913708970567, + 0.019239809415548776 + ], + [ + 0.003992555811719127, + -0.004699256157652807, + 0.9999809880641006, + 0.10337010556310884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999903698077597, + -0.0016272207579217958, + -0.004075836643567425, + 0.05296044577737063 + ], + [ + 0.0016470132607435378, + 0.9999868463282636, + 0.004857418838499475, + 0.02190513046162431 + ], + [ + 0.004067878938586238, + -0.004864085017622848, + 0.9999798963168621, + 0.1109606404100835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999909972616567, + -0.0012364186253772157, + -0.004059145799321796, + 0.05704881179755646 + ], + [ + 0.0012563117039163536, + 0.9999871963595386, + 0.0049019177769997315, + 0.02519752754295288 + ], + [ + 0.004053033005038851, + -0.004906973198692196, + 0.999979747063653, + 0.11897657937334077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999938569131969, + -0.0009452935882093677, + -0.0033752860472581778, + 0.06154617936953563 + ], + [ + 0.0009621543408406913, + 0.9999870508887987, + 0.004997230607812656, + 0.026632390024788462 + ], + [ + 0.003370518490251446, + -0.005000447455513205, + 0.9999818173998724, + 0.12719393083948713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999982377416984, + -0.0007542206106877338, + -0.0017192046907349443, + 0.06654126220543649 + ], + [ + 0.0007622136878874326, + 0.9999888824634918, + 0.004653383684088497, + 0.027657670601546547 + ], + [ + 0.0017156758995300518, + -0.004654685884972026, + 0.9999876951020551, + 0.13523505368540584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999990701681498, + -0.0006722008181272823, + 0.0011865112287580996, + 0.07213623661708192 + ], + [ + 0.0006679855926368375, + 0.9999934775788604, + 0.003549449955316613, + 0.029034456970846292 + ], + [ + -0.0011888894329960442, + -0.003548654082518681, + 0.9999929967735368, + 0.1428706907222481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999858718478508, + -0.0004563587387609655, + 0.00529602127972103, + 0.07850163040646078 + ], + [ + 0.0004417906921940399, + 0.9999961167600117, + 0.0027515969692831974, + 0.03220046530746506 + ], + [ + -0.0052972564293218985, + -0.0027492183613955197, + 0.9999821902777686, + 0.15028338661758558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999293459592579, + 0.0007767809209849976, + 0.011861690473617764, + 0.08478001687201726 + ], + [ + -0.0008057143128650192, + 0.9999967116558404, + 0.002434646165769564, + 0.03435421408292017 + ], + [ + -0.01185976028160625, + -0.002444031281969543, + 0.9999266837109388, + 0.15862217610696486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998010595223524, + 0.0026865843271756534, + 0.01976420103709158, + 0.0905886417338866 + ], + [ + -0.0027339104009323507, + 0.9999934593573456, + 0.0023679054982240653, + 0.03568445955182928 + ], + [ + -0.019757710188715482, + -0.002421467980754647, + 0.9998018650617316, + 0.16736152157103004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995896704338054, + 0.00506382843153853, + 0.02819305594738486, + 0.09573632753396737 + ], + [ + -0.005127443021513519, + 0.9999844684018616, + 0.002184555585867156, + 0.03645418254593363 + ], + [ + -0.0281815558494836, + -0.002328217486093838, + 0.9996001097004943, + 0.17682368499378479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993224706677479, + 0.007958609602376028, + 0.035934108472385526, + 0.09922379778049374 + ], + [ + -0.008034456238718535, + 0.9999657890133761, + 0.0019668034484017667, + 0.039488942738765284 + ], + [ + -0.03591722611027079, + -0.0022541819033734464, + 0.9993522259606422, + 0.1848221152822578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989825514562434, + 0.01069847447946293, + 0.04381100923040447, + 0.1022046380490449 + ], + [ + -0.010797894719305482, + 0.9999396338122316, + 0.0020332734914994847, + 0.04204381536521734 + ], + [ + -0.04378661160223636, + -0.0025042714055629276, + 0.9990377676890511, + 0.19323925472182976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9985663970862058, + 0.013111649677990516, + 0.05189638959499684, + 0.1049676364145057 + ], + [ + -0.013243207408047198, + 0.9999099023785581, + 0.0021919358680908573, + 0.04385434439296321 + ], + [ + -0.05186297395851388, + -0.002876068153578878, + 0.9986500689251238, + 0.20191436899967918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980664103466143, + 0.014830824451297806, + 0.060361305353008404, + 0.10799294757846785 + ], + [ + -0.014986219416993142, + 0.999885447556448, + 0.0021224967438791486, + 0.044297421678585226 + ], + [ + -0.06032291244137729, + -0.0030229804724521444, + 0.9981743373898437, + 0.21060903258252575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973807182650862, + 0.01715645815298489, + 0.07026634170544012, + 0.11134054374617991 + ], + [ + -0.017315430696549287, + 0.999848708776976, + 0.0016539095522100085, + 0.04608919043247948 + ], + [ + -0.07022733579464475, + -0.0028662694672293046, + 0.9975268947785455, + 0.2182096756206348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9965477915367277, + 0.01937797138199746, + 0.080727897336605, + 0.11489217357256154 + ], + [ + -0.019546616101129743, + 0.9998081024845881, + 0.0012992325283071827, + 0.048440335243712704 + ], + [ + -0.08068722936292959, + -0.0028727045246672344, + 0.996735330258965, + 0.22561622986722318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9955357038874815, + 0.021546143998104866, + 0.09189355779416591, + 0.1186018060814629 + ], + [ + -0.02174611624101804, + 0.999762834442744, + 0.001175285259995729, + 0.050977568012630495 + ], + [ + -0.09184644094187272, + -0.0031683664281710712, + 0.9957681420594293, + 0.23309488380183271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9941092263108392, + 0.024690053688051845, + 0.10553315788199284, + 0.12231264379677692 + ], + [ + -0.024981756517517963, + 0.9996868659350449, + 0.001442885396353558, + 0.05225512446201597 + ], + [ + -0.10546448693737602, + -0.004070789339756971, + 0.9944147377574345, + 0.24134096876131148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9923190683868242, + 0.027975225443755553, + 0.12050001359865799, + 0.12593068754448072 + ], + [ + -0.028330347241876705, + 0.9995978527411713, + 0.0012345932101019365, + 0.0532828040149087 + ], + [ + -0.12041701682511653, + -0.004638917611985897, + 0.9927125578445802, + 0.25064119263927626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906972298998175, + 0.03106223217534586, + 0.13249202391507728, + 0.12846383273571232 + ], + [ + -0.03143625260982976, + 0.9995054910912501, + 0.0007316421873206007, + 0.05499016464276794 + ], + [ + -0.1324037789894211, + -0.004889888620838336, + 0.9911838014710473, + 0.2583204459836159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9890780272688721, + 0.034367985890978045, + 0.14333003006946715, + 0.13037222993461206 + ], + [ + -0.03473982095093406, + 0.9993963860348324, + 9.176499214960969e-05, + 0.057602760279412246 + ], + [ + -0.14324036028373383, + -0.005070022318912962, + 0.9896749436352686, + 0.26561256705735653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9872628544061562, + 0.037581924863395545, + 0.1545951332784149, + 0.1315596672393865 + ], + [ + -0.0380133851640646, + 0.9992772164002812, + -0.00016532293870693496, + 0.06026063813828293 + ], + [ + -0.1544896076057456, + -0.0057134671494356625, + 0.9879778931914192, + 0.27311089388635834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9851150195684035, + 0.04040818784495145, + 0.16707955163882557, + 0.1327252672051003 + ], + [ + -0.041114510381613505, + 0.9991541449680008, + 0.0007691744557556824, + 0.06141784290087012 + ], + [ + -0.16690714561343398, + -0.007627119269443098, + 0.985943117930657, + 0.28095466352838283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9828268536790871, + 0.04289945358304632, + 0.17947426715142878, + 0.1340229167531124 + ], + [ + -0.04393841633121413, + 0.99903259114043, + 0.0018158770727541174, + 0.06211141622249402 + ], + [ + -0.17922274202112654, + -0.009670507820921945, + 0.9837609923253281, + 0.2885821450403129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9805457503468437, + 0.045067892794558556, + 0.19104689611664386, + 0.13555981807539239 + ], + [ + -0.046380179312046674, + 0.9989209759333793, + 0.002400584780349424, + 0.06286841607836467 + ], + [ + -0.19073256262035573, + -0.011214672503618833, + 0.9815779748328244, + 0.29565369498911964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776973370077081, + 0.047269449154428024, + 0.20463019421550033, + 0.1378794014570761 + ], + [ + -0.04908565903732195, + 0.9987873215006285, + 0.0038058489817809063, + 0.06497725206744362 + ], + [ + -0.2042021431937192, + -0.013765376356543704, + 0.9788319565323023, + 0.3026233231108323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9743208039706551, + 0.04958200793205074, + 0.2196374181222376, + 0.14028713902228152 + ], + [ + -0.05223079637739825, + 0.998615383490586, + 0.006265761384930319, + 0.06702421323374731 + ], + [ + -0.21902263549633252, + -0.017576698932853664, + 0.9755614510602931, + 0.3098521993642263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698339933878807, + 0.052048688884097936, + 0.23814482831832146, + 0.14305434923857208 + ], + [ + -0.0561335407186492, + 0.9983691157391537, + 0.010398766494561163, + 0.06863865082926877 + ], + [ + -0.2372151995039613, + -0.02345298965307056, + 0.9711739835892583, + 0.3186478893509246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9652370350541465, + 0.05385962224438621, + 0.2557667047361179, + 0.1454124742522682 + ], + [ + -0.05973029220521476, + 0.9980982799677122, + 0.01523534438646745, + 0.06891995576339485 + ], + [ + -0.2544597381767107, + -0.029982738653875882, + 0.9666184754233975, + 0.3269313379734225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9618708835996563, + 0.05537099295338473, + 0.26784035622469676, + 0.147136397521728 + ], + [ + -0.06259395605985763, + 0.9978676458047481, + 0.018497516613484734, + 0.07054233748510139 + ], + [ + -0.2662449998553829, + -0.034557410137997166, + 0.9632857236856369, + 0.33497384117986784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9599644527883817, + 0.054709696762935384, + 0.2747273165573645, + 0.14863955126831513 + ], + [ + -0.06421958956999167, + 0.9976039244912716, + 0.02573429919533881, + 0.07257145813824353 + ], + [ + -0.272661133457199, + -0.04234688795792504, + 0.96117773974542, + 0.34308127463741767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.959228597493123, + 0.05271485086942851, + 0.2776718247305449, + 0.1501643557659833 + ], + [ + -0.06491814104654646, + 0.9972789561737107, + 0.03493305792705433, + 0.07454119841336464 + ], + [ + -0.2750747765870896, + -0.05153472684402379, + 0.9600406445639033, + 0.3514429888539733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9592117081109408, + 0.050635260154681165, + 0.27811682698455925, + 0.15213337237130256 + ], + [ + -0.06504616922240618, + 0.9969627059464662, + 0.04282941537530427, + 0.07562975179931113 + ], + [ + -0.2751034258099699, + -0.05917291087117489, + 0.9595919297944573, + 0.3604557047291601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9594122725254143, + 0.04878320517357568, + 0.2777558104173756, + 0.15464465360326807 + ], + [ + -0.0643876409692216, + 0.9968017795104784, + 0.047333329221198206, + 0.07616113659614422 + ], + [ + -0.274558414582469, + -0.06329621835257253, + 0.959484896037569, + 0.36895406243208845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9596336043928115, + 0.046794989685789934, + 0.277332966414683, + 0.15757090593302195 + ], + [ + -0.06375173063533834, + 0.9965871185572243, + 0.05243884025041382, + 0.07764315927559923 + ], + [ + -0.27393258689148353, + -0.06800252985085167, + 0.9593417502500472, + 0.37713704911122126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9599138092593161, + 0.04399612109421812, + 0.2768209170599879, + 0.16162332844090307 + ], + [ + -0.06307838922171954, + 0.9961787779317892, + 0.06040661562710491, + 0.08032315305514 + ], + [ + -0.2731054660867539, + -0.07544656206210085, + 0.9590209698784209, + 0.38655599435840843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9602923646695127, + 0.04035416977918531, + 0.2760617962320554, + 0.1662391381113006 + ], + [ + -0.06213397393469135, + 0.9955672897784723, + 0.07060552957262649, + 0.08221682281875371 + ], + [ + -0.27198886675840117, + -0.08495476740348727, + 0.9585430318222029, + 0.39583746419701804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9604607716557428, + 0.038359475708249706, + 0.27576014348314243, + 0.1699734757785342 + ], + [ + -0.062009186446761656, + 0.9950575669690839, + 0.07755836005085466, + 0.08236571786399385 + ], + [ + -0.2714221194130387, + -0.09159142449462972, + 0.9580923984942051, + 0.40598383028145235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.960553913591439, + 0.037437528657904735, + 0.27556235325631656, + 0.17288528493069485 + ], + [ + -0.062302288187152215, + 0.9946800158146455, + 0.0820371319929081, + 0.08321715671094096 + ], + [ + -0.271025098414917, + -0.09596925334171019, + 0.9577762256614117, + 0.41585276005852945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9605971300944649, + 0.03737697775156938, + 0.2754198888759421, + 0.17501191567971167 + ], + [ + -0.062902222104117, + 0.9944417611829008, + 0.08443277840871256, + 0.08514570058126013 + ], + [ + -0.27073319727850503, + -0.09843040764727694, + 0.9576089967944896, + 0.42536227191256454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9606094654368061, + 0.03748553553906205, + 0.27536210621391516, + 0.1765206486498772 + ], + [ + -0.06353881586619861, + 0.9942401574403237, + 0.08630949085333435, + 0.08791534782247912 + ], + [ + -0.2705407063484811, + -0.10040589603399898, + 0.9574582926948175, + 0.43517290348181303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9606099715882918, + 0.037394974268018064, + 0.2753726536616078, + 0.17784664141914122 + ], + [ + -0.0639679352818192, + 0.9940506178681053, + 0.0881559548290371, + 0.08888539046324655 + ], + [ + -0.27043776685389653, + -0.10229850935146859, + 0.9572870150814463, + 0.4457086883746194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9606492912850906, + 0.03703084042368552, + 0.2752846817586637, + 0.17946685469508894 + ], + [ + -0.06395502723001333, + 0.9939332383474435, + 0.08947889248405155, + 0.08928586702068528 + ], + [ + -0.27030111661896894, + -0.10356367396765984, + 0.9571895694108137, + 0.4559628204504965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.960759416789196, + 0.036321529437728886, + 0.27499470822215527, + 0.18167959080873458 + ], + [ + -0.06332059187548003, + 0.9939316772422094, + 0.08994622626340398, + 0.08973966584571923 + ], + [ + -0.27005896707093996, + -0.10382951157446887, + 0.9572291192973521, + 0.46534404606312646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9608893168531497, + 0.03542177080080529, + 0.2746580035440858, + 0.18502198781717802 + ], + [ + -0.062458723399431065, + 0.9939518943165372, + 0.09032463482284975, + 0.0925384833344234 + ], + [ + -0.2697973843994808, + -0.1039467649227383, + 0.9572901552994768, + 0.4751556820926977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9609751561686931, + 0.034601400408305116, + 0.27446218740719075, + 0.18879198010318754 + ], + [ + -0.06171661047185541, + 0.993956712943087, + 0.09078057494441703, + 0.0948864217670063 + ], + [ + -0.26966239859947294, + -0.10417675309375789, + 0.957303188596184, + 0.48439698573737316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9610609736326303, + 0.033880799899437306, + 0.2742515202482474, + 0.1927375127818527 + ], + [ + -0.061120643949804945, + 0.9939372116968253, + 0.09139521917201943, + 0.0964966952064958 + ], + [ + -0.269492248206626, + -0.10459880784461448, + 0.9573050807104408, + 0.4941811519333482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9611634763752864, + 0.03333803162263065, + 0.27395865989178536, + 0.19651084392615883 + ], + [ + -0.06075481108561539, + 0.993884579826815, + 0.09220788964306069, + 0.09694801449765393 + ], + [ + -0.26920925803568796, + -0.10527116238554675, + 0.9573110036753315, + 0.5045073819818028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9616261358832281, + 0.033513851467931705, + 0.27230864207012717, + 0.19892815894520938 + ], + [ + -0.06069780178209361, + 0.9939050808251776, + 0.0920242748883076, + 0.09898728279861332 + ], + [ + -0.2675648550260532, + -0.10502148384822287, + 0.9577993194219782, + 0.5137905071887491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.962201148352402, + 0.0339141631833179, + 0.2702198727793617, + 0.20090796743362552 + ], + [ + -0.06077117207346633, + 0.9939351937487909, + 0.09164985145853055, + 0.10173511456566672 + ], + [ + -0.265472813587637, + -0.10460717070606992, + 0.9584265882594947, + 0.5232010569363432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629295592821044, + 0.034219266539092866, + 0.2675737387306513, + 0.20269793469691294 + ], + [ + -0.06072703561871212, + 0.9939584618198968, + 0.09142649135556202, + 0.10429832226277354 + ], + [ + -0.2628286342956871, + -0.1042862309902487, + 0.9591900182029173, + 0.532978183627244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9639164190124168, + 0.03383732221206532, + 0.26404577781853705, + 0.20470433859708545 + ], + [ + -0.06009230668405476, + 0.9939443539106602, + 0.09199747826168996, + 0.10502958163563153 + ], + [ + -0.25933386172204526, + -0.10454499966348214, + 0.9601126450629082, + 0.5436263228107768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9658520607454447, + 0.03269787360276493, + 0.25702265623021564, + 0.2074828754297204 + ], + [ + -0.05821694674571903, + 0.9940267575164228, + 0.0923124718171557, + 0.10578781131096676 + ], + [ + -0.2524689760453433, + -0.10412326542730331, + 0.9619863625495798, + 0.5530442216303799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9678530982362812, + 0.031990275005452984, + 0.24947345057041093, + 0.21114399148404753 + ], + [ + -0.056647935733934396, + 0.9941191848700944, + 0.09229332397472334, + 0.10807155813041906 + ], + [ + -0.24505385451266792, + -0.10345853555069631, + 0.9639735161352669, + 0.5632072848015832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9694254238584588, + 0.031511591740260275, + 0.24335440649974546, + 0.21469171558763223 + ], + [ + -0.05547081081501186, + 0.9941907891627959, + 0.09223699849508799, + 0.11095517278500121 + ], + [ + -0.23903417480430147, + -0.10291595760547953, + 0.9655418007242226, + 0.5720211712702964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9710345179248993, + 0.029999502743854697, + 0.23704850734286473, + 0.218441374607699 + ], + [ + -0.053358728956224566, + 0.9942587983921989, + 0.0927485194700013, + 0.11342497809929948 + ], + [ + -0.23290515460705222, + -0.10271062094458637, + 0.9670603483250892, + 0.5813986299352132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9726938362082883, + 0.029404885625674927, + 0.23022174898072673, + 0.2219015318640166 + ], + [ + -0.05220008790202501, + 0.9942444739377934, + 0.09355787977066225, + 0.11414435803618081 + ], + [ + -0.22614564295034434, + -0.10302076851539115, + 0.9686304090978528, + 0.5911090304182215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9744312206290411, + 0.028925926068874484, + 0.22281626301609014, + 0.22485654358518892 + ], + [ + -0.050983194126253906, + 0.994276725022618, + 0.09388561122441688, + 0.11531984782145184 + ], + [ + -0.21882529602420775, + -0.10284495553674788, + 0.970329018910886, + 0.6001861852573415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762425108263414, + 0.028401401132739118, + 0.21481136019582056, + 0.22731251717770962 + ], + [ + -0.04955341684693082, + 0.9943634395776999, + 0.09373264591379543, + 0.11728966802685686 + ], + [ + -0.21093842450884956, + -0.10215043046851974, + 0.972147247396618, + 0.608587418807441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.978128303676563, + 0.027706566070362752, + 0.2061488970220266, + 0.22951218973385357 + ], + [ + -0.047959224168245974, + 0.9944254590592768, + 0.09390377623890665, + 0.11986269974177384 + ], + [ + -0.20239796037507252, + -0.10173668252570132, + 0.9740044728155386, + 0.6170208126706207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.979951367795309, + 0.026868563739568176, + 0.19741681042574893, + 0.23191816807529333 + ], + [ + -0.04631722542122416, + 0.994440284934835, + 0.0945686751942948, + 0.121200783485927 + ], + [ + -0.19377830473348362, + -0.10181650151766797, + 0.9757475947361184, + 0.6260984924080225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817041535523893, + 0.025762516530206097, + 0.188661728074397, + 0.2344877575274661 + ], + [ + -0.044395663497354604, + 0.99446623908653, + 0.09521514784803028, + 0.12200907121100088 + ], + [ + -0.18516473735735026, + -0.10184886871793652, + 0.97741538149359, + 0.6350498401365705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9836017306472111, + 0.02413627067303522, + 0.17873185475960676, + 0.23759400480452902 + ], + [ + -0.04176600509328698, + 0.9945487965918056, + 0.09554209551992686, + 0.12292952945729267 + ], + [ + -0.17545152118565036, + -0.10144028605928358, + 0.9792479931446642, + 0.644494034847313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9852972225985513, + 0.022954937982224997, + 0.16929989356704558, + 0.24043411088927522 + ], + [ + -0.03957065152592774, + 0.9946490657013533, + 0.09543269689806852, + 0.12526914016191923 + ], + [ + -0.1662033293210288, + -0.10072887829047453, + 0.9809333037474813, + 0.6517668732931132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9871506465239199, + 0.021405878191734267, + 0.15835210591036628, + 0.24397367076292986 + ], + [ + -0.03690074470658113, + 0.9947387397926083, + 0.0955676440847711, + 0.12732202681566815 + ], + [ + -0.15547326492843375, + -0.10018297227899757, + 0.9827468829550359, + 0.6591891004888948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.989073241567126, + 0.0195987708690517, + 0.14611642959065285, + 0.24772993107449365 + ], + [ + -0.033901535175353284, + 0.9947991637107562, + 0.09604847626659385, + 0.12865370684869495 + ], + [ + -0.14347406988251254, + -0.0999525490460477, + 0.9845936619796745, + 0.6667733977591932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991017051954891, + 0.017571875289979742, + 0.1325761363648463, + 0.251457450647579 + ], + [ + -0.03061160839417658, + 0.9948164935820206, + 0.09696944636685835, + 0.12894185684422074 + ], + [ + -0.13018499209263143, + -0.10015674363699549, + 0.986418012070884, + 0.6745461761408108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_081/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8b731574b8b07e1a87bf3397dccb23308314f9e8 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/push_in/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998810334246, + -0.0004566301525541118, + 0.00017152854113806557, + 0.005134316062020436 + ], + [ + 0.00045658292101556197, + 0.9999998578723281, + 0.000275295041644142, + 0.0025203557163078994 + ], + [ + -0.00017165422477597667, + -0.0002752166918908833, + 0.9999999473952985, + 0.009168551910679664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999569456473, + -0.0009052498730040714, + 0.00020398415804151782, + 0.010038797789735356 + ], + [ + 0.000905078920324842, + 0.9999992404593028, + 0.0008366080122048063, + 0.0033238144809835373 + ], + [ + -0.00020474134240405076, + -0.000836423030247118, + 0.9999996292386801, + 0.01866344868308813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999994051094394, + -0.001062412757887734, + 0.00024710301309320353, + 0.014281182754600698 + ], + [ + 0.0010620532126588787, + 0.9999983838274342, + 0.001450650024240791, + 0.003542878608913466 + ], + [ + -0.0002486438028250765, + -0.0014503867247138717, + 0.9999989172767179, + 0.028285801866082767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998430661549, + -0.0004879148335373043, + 0.0002753303123862435, + 0.017288969124126044 + ], + [ + 0.0004873829793287499, + 0.9999980217341332, + 0.0019284671766669717, + 0.00485394630491479 + ], + [ + -0.00027627069545117, + -0.001928332682717252, + 0.9999981026019837, + 0.03800074302989767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999999625541605, + 0.00019000055976908317, + 0.0001969554898521695, + 0.019331048382826847 + ], + [ + -0.00019045938161307702, + 0.9999972623363792, + 0.002332176016254056, + 0.007698275912144128 + ], + [ + -0.0001965118359057217, + -0.002332213440944569, + 0.9999972610780312, + 0.04929892011947038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999843842303, + 0.0005287124304271314, + -0.00018104843391757974, + 0.0208810429923531 + ], + [ + -0.0005282134560870304, + 0.9999960927768798, + 0.0027450722246625406, + 0.009390526523748522 + ], + [ + 0.00018249908032855224, + -0.0027449761637793856, + 0.9999962158928132, + 0.0595987283318591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999995308365015, + 0.0005229085202550808, + -0.0008154099928655837, + 0.022477782216505496 + ], + [ + -0.000520318845952188, + 0.9999948309692233, + 0.003172901374651888, + 0.00999505910378356 + ], + [ + 0.0008170649151489695, + -0.003172475612855913, + 0.9999946338873077, + 0.06981342312417219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999998578194253, + -3.5432613119883425e-05, + -0.001685928231641647, + 0.024425076240429385 + ], + [ + 4.136867170421239e-05, + 0.9999938002664762, + 0.0035210392278044265, + 0.00911485975713522 + ], + [ + 0.001685793019715132, + -0.0035211039661821493, + 0.9999923799353443, + 0.07966523337196468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967928195441, + -0.00039329127209187094, + -0.002501933772350567, + 0.02730189022661386 + ], + [ + 0.00040185018699476774, + 0.9999940664656488, + 0.003421337446539131, + 0.010361763533027594 + ], + [ + 0.0025005733448839793, + -0.0034223318762468067, + 0.999991017348394, + 0.08861188168499912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999946827562619, + -0.0009169640990473038, + -0.003129478557857607, + 0.030878693695442314 + ], + [ + 0.0009275341457248904, + 0.9999938650683583, + 0.0033777960350559063, + 0.012491966448571208 + ], + [ + 0.0031263620410225297, + -0.0033806807727118173, + 0.9999893983727535, + 0.09743765289108026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999924276762973, + -0.001596293341963687, + -0.003549146042644426, + 0.03508762271796965 + ], + [ + 0.0016086911660815853, + 0.9999926052292623, + 0.00349307880317827, + 0.01508874620394623 + ], + [ + 0.003543543819086658, + -0.0034987618323407883, + 0.9999876009045527, + 0.10640621455310315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999908539978033, + -0.0020049620711180996, + -0.0037778363963285925, + 0.0397475867788099 + ], + [ + 0.0020196180420454196, + 0.999990434689212, + 0.0038796485723529605, + 0.016892742744911253 + ], + [ + 0.003770021711912521, + -0.0038872428756245164, + 0.9999853380320721, + 0.11631527058562259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999899287701002, + -0.002216117580573264, + -0.0039027145987850387, + 0.04410928872819603 + ], + [ + 0.002232957729064116, + 0.999988193274287, + 0.0043159253709895975, + 0.017760260296083137 + ], + [ + 0.0038931039224131417, + -0.004324596501040644, + 0.9999830706601752, + 0.12682070877708518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999898324559524, + -0.0020775335848582685, + -0.004002354172224393, + 0.048782562430225176 + ], + [ + 0.0020963021744118573, + 0.9999868003357687, + 0.004690913708970567, + 0.01940399139536275 + ], + [ + 0.003992555811719127, + -0.004699256157652807, + 0.9999809880641006, + 0.13836944014535235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999903698077597, + -0.0016272207579217958, + -0.004075836643567425, + 0.05280760190323685 + ], + [ + 0.0016470132607435378, + 0.9999868463282636, + 0.004857418838499475, + 0.022087283668068038 + ], + [ + 0.004067878938586238, + -0.004864085017622848, + 0.9999798963168621, + 0.14845988652196582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999909972616567, + -0.0012364186253772157, + -0.004059145799321796, + 0.056886445965583586 + ], + [ + 0.0012563117039163536, + 0.9999871963595386, + 0.0049019177769997315, + 0.02539360425403287 + ], + [ + 0.004053033005038851, + -0.004906973198692196, + 0.999979747063653, + 0.1589757692558869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999938569131969, + -0.0009452935882093677, + -0.0033752860472581778, + 0.06140272971252715 + ], + [ + 0.0009621543408406913, + 0.9999870508887987, + 0.004997230607812656, + 0.0268447723256205 + ], + [ + 0.003370518490251446, + -0.005000447455513205, + 0.9999818173998724, + 0.1696931580789817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999982377416984, + -0.0007542206106877338, + -0.0017192046907349443, + 0.06646389799435343 + ], + [ + 0.0007622136878874326, + 0.9999888824634918, + 0.004653383684088497, + 0.02786707286733053 + ], + [ + 0.0017156758995300518, + -0.004654685884972026, + 0.9999876951020551, + 0.1802344999649983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999990701681498, + -0.0006722008181272823, + 0.0011865112287580996, + 0.07219259590044792 + ], + [ + 0.0006679855926368375, + 0.9999934775788604, + 0.003549449955316613, + 0.029203055843723832 + ], + [ + -0.0011888894329960442, + -0.003548654082518681, + 0.9999929967735368, + 0.19037035806899108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999858718478508, + -0.0004563587387609655, + 0.00529602127972103, + 0.07876643147044683 + ], + [ + 0.0004417906921940399, + 0.9999961167600117, + 0.0027515969692831974, + 0.03233804515592922 + ], + [ + -0.0052972564293218985, + -0.0027492183613955197, + 0.9999821902777686, + 0.200282496131474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999293459592579, + 0.0007767809209849976, + 0.011861690473617764, + 0.0854027556218822 + ], + [ + -0.0008057143128650192, + 0.9999967116558404, + 0.002434646165769564, + 0.03448203300662308 + ], + [ + -0.01185976028160625, + -0.002444031281969543, + 0.9999266837109388, + 0.21111832700178915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998010595223524, + 0.0026865843271756534, + 0.01976420103709158, + 0.09167567279092663 + ], + [ + -0.0027339104009323507, + 0.9999934593573456, + 0.0023679054982240653, + 0.035814694354231597 + ], + [ + -0.019757710188715482, + -0.002421467980754647, + 0.9998018650617316, + 0.22235062414942527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995896704338054, + 0.00506382843153853, + 0.02819305594738486, + 0.097357428250942 + ], + [ + -0.005127443021513519, + 0.9999844684018616, + 0.002184555585867156, + 0.036579794492120996 + ], + [ + -0.0281815558494836, + -0.002328217486093838, + 0.9996001097004943, + 0.2343006913015632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993224706677479, + 0.007958609602376028, + 0.035934108472385526, + 0.10137984428883688 + ], + [ + -0.008034456238718535, + 0.9999657890133761, + 0.0019668034484017667, + 0.03960695094566939 + ], + [ + -0.03591722611027079, + -0.0022541819033734464, + 0.9993522259606422, + 0.24478324883989636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989825514562434, + 0.01069847447946293, + 0.04381100923040447, + 0.10494282612594516 + ], + [ + -0.010797894719305482, + 0.9999396338122316, + 0.0020332734914994847, + 0.04217089495843605 + ], + [ + -0.04378661160223636, + -0.0025042714055629276, + 0.9990377676890511, + 0.25567911520239545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9985663970862058, + 0.013111649677990516, + 0.05189638959499684, + 0.10834090173818049 + ], + [ + -0.013243207408047198, + 0.9999099023785581, + 0.0021919358680908573, + 0.04399682022438911 + ], + [ + -0.05186297395851388, + -0.002876068153578878, + 0.9986500689251238, + 0.26682662347981223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980664103466143, + 0.014830824451297806, + 0.060361305353008404, + 0.11206733568979592 + ], + [ + -0.014986219416993142, + 0.999885447556448, + 0.0021224967438791486, + 0.044440690208797075 + ], + [ + -0.06032291244137729, + -0.0030229804724521444, + 0.9981743373898437, + 0.27798580035634024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973807182650862, + 0.01715645815298489, + 0.07026634170544012, + 0.11625918766556073 + ], + [ + -0.017315430696549287, + 0.999848708776976, + 0.0016539095522100085, + 0.04620496410113418 + ], + [ + -0.07022733579464475, + -0.0028662694672293046, + 0.9975268947785455, + 0.288036558255133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9965477915367277, + 0.01937797138199746, + 0.080727897336605, + 0.1207449461294654 + ], + [ + -0.019546616101129743, + 0.9998081024845881, + 0.0012992325283071827, + 0.04853452960201497 + ], + [ + -0.08068722936292959, + -0.0028727045246672344, + 0.996735330258965, + 0.29787954131099814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9955357038874815, + 0.021546143998104866, + 0.09189355779416591, + 0.12549382291602534 + ], + [ + -0.02174611624101804, + 0.999762834442744, + 0.001175285259995729, + 0.051065714407130175 + ], + [ + -0.09184644094187272, + -0.0031683664281710712, + 0.9957681420594293, + 0.30777749445628994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9941092263108392, + 0.024690053688051845, + 0.10553315788199284, + 0.13049146353263136 + ], + [ + -0.024981756517517963, + 0.9996868659350449, + 0.001442885396353558, + 0.05236694808023337 + ], + [ + -0.10546448693737602, + -0.004070789339756971, + 0.9944147377574345, + 0.31840811093751265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9923190683868242, + 0.027975225443755553, + 0.12050001359865799, + 0.13557068863237337 + ], + [ + -0.028330347241876705, + 0.9995978527411713, + 0.0012345932101019365, + 0.05338157147171686 + ], + [ + -0.12041701682511653, + -0.004638917611985897, + 0.9927125578445802, + 0.33005819726684266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906972298998175, + 0.03106223217534586, + 0.13249202391507728, + 0.13939442470870622 + ], + [ + -0.03143625260982976, + 0.9995054910912501, + 0.0007316421873206007, + 0.05505052512322189 + ], + [ + -0.1324037789894211, + -0.004889888620838336, + 0.9911838014710473, + 0.3400931096049773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9890780272688721, + 0.034367985890978045, + 0.14333003006946715, + 0.14255528249051674 + ], + [ + -0.03473982095093406, + 0.9993963860348324, + 9.176499214960969e-05, + 0.057610560303744965 + ], + [ + -0.14324036028373383, + -0.005070022318912962, + 0.9896749436352686, + 0.34973493726635435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9872628544061562, + 0.037581924863395545, + 0.1545951332784149, + 0.14508674140124783 + ], + [ + -0.0380133851640646, + 0.9992772164002812, + -0.00016532293870693496, + 0.060246172381146074 + ], + [ + -0.1544896076057456, + -0.0057134671494356625, + 0.9879778931914192, + 0.35955895954060757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9851150195684035, + 0.04040818784495145, + 0.16707955163882557, + 0.1477624268525946 + ], + [ + -0.041114510381613505, + 0.9991541449680008, + 0.0007691744557556824, + 0.061487068601888135 + ], + [ + -0.16690714561343398, + -0.007627119269443098, + 0.985943117930657, + 0.36968954414214195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9828268536790871, + 0.04289945358304632, + 0.17947426715142878, + 0.15062428646461956 + ], + [ + -0.04393841633121413, + 0.99903259114043, + 0.0018158770727541174, + 0.062279384851723775 + ], + [ + -0.17922274202112654, + -0.009670507820921945, + 0.9837609923253281, + 0.37958003683040575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9805457503468437, + 0.045067892794558556, + 0.19104689611664386, + 0.15370927320647357 + ], + [ + -0.046380179312046674, + 0.9989209759333793, + 0.002400584780349424, + 0.06309647163249786 + ], + [ + -0.19073256262035573, + -0.011214672503618833, + 0.9815779748328244, + 0.388903602598238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776973370077081, + 0.047269449154428024, + 0.20463019421550033, + 0.1578308453930874 + ], + [ + -0.04908565903732195, + 0.9987873215006285, + 0.0038058489817809063, + 0.06534832234316726 + ], + [ + -0.2042021431937192, + -0.013765376356543704, + 0.9788319565323023, + 0.39805943887273176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9743208039706551, + 0.04958200793205074, + 0.2196374181222376, + 0.16225088083450528 + ], + [ + -0.05223079637739825, + 0.998615383490586, + 0.006265761384930319, + 0.06765078937224035 + ], + [ + -0.21902263549633252, + -0.017576698932853664, + 0.9755614510602931, + 0.4074083444702556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698339933878807, + 0.052048688884097936, + 0.23814482831832146, + 0.1674641941412 + ], + [ + -0.0561335407186492, + 0.9983691157391537, + 0.010398766494561163, + 0.06970452439496129 + ], + [ + -0.2372151995039613, + -0.02345298965307056, + 0.9711739835892583, + 0.4181932226688235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9652370350541465, + 0.05385962224438621, + 0.2557667047361179, + 0.17226797824956055 + ], + [ + -0.05973029220521476, + 0.9980982799677122, + 0.01523534438646745, + 0.07051966692397393 + ], + [ + -0.2544597381767107, + -0.029982738653875882, + 0.9666184754233975, + 0.4284262778928793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9618708835996563, + 0.05537099295338473, + 0.26784035622469676, + 0.1759292358158829 + ], + [ + -0.06259395605985763, + 0.9978676458047481, + 0.018497516613484734, + 0.072530820521051 + ], + [ + -0.2662449998553829, + -0.034557410137997166, + 0.9632857236856369, + 0.4385270564760738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9599644527883817, + 0.054709696762935384, + 0.2747273165573645, + 0.17885955608962523 + ], + [ + -0.06421958956999167, + 0.9976039244912716, + 0.02573429919533881, + 0.07540223104973079 + ], + [ + -0.272661133457199, + -0.04234688795792504, + 0.96117773974542, + 0.4488108260094139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.959228597493123, + 0.05271485086942851, + 0.2776718247305449, + 0.18140243604816958 + ], + [ + -0.06491814104654646, + 0.9972789561737107, + 0.03493305792705433, + 0.07847116743015824 + ], + [ + -0.2750747765870896, + -0.05153472684402379, + 0.9600406445639033, + 0.4594475613674124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9592117081109408, + 0.050635260154681165, + 0.27811682698455925, + 0.18411680747452688 + ], + [ + -0.06504616922240618, + 0.9969627059464662, + 0.04282941537530427, + 0.08055513456747111 + ], + [ + -0.2751034258099699, + -0.05917291087117489, + 0.9595919297944573, + 0.4708087766555227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9594122725254143, + 0.04878320517357568, + 0.2777558104173756, + 0.1872809613273097 + ], + [ + -0.0643876409692216, + 0.9968017795104784, + 0.047333329221198206, + 0.08172280277963502 + ], + [ + -0.274558414582469, + -0.06329621835257253, + 0.959484896037569, + 0.48169353771650286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9596336043928115, + 0.046794989685789934, + 0.277332966414683, + 0.1908508619027839 + ], + [ + -0.06375173063533834, + 0.9965871185572243, + 0.05243884025041382, + 0.08393582010564887 + ], + [ + -0.27393258689148353, + -0.06800252985085167, + 0.9593417502500472, + 0.492258059141227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9599138092593161, + 0.04399612109421812, + 0.2768209170599879, + 0.1955338907807516 + ], + [ + -0.06307838922171954, + 0.9961787779317892, + 0.06040661562710491, + 0.08772296346946036 + ], + [ + -0.2731054660867539, + -0.07544656206210085, + 0.9590209698784209, + 0.504036063168515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9602923646695127, + 0.04035416977918531, + 0.2760617962320554, + 0.2007468626403075 + ], + [ + -0.06213397393469135, + 0.9955672897784723, + 0.07060552957262649, + 0.09104251401533202 + ], + [ + -0.27198886675840117, + -0.08495476740348727, + 0.9585430318222029, + 0.5156553431747934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9604607716557428, + 0.038359475708249706, + 0.27576014348314243, + 0.20513289407263488 + ], + [ + -0.062009186446761656, + 0.9950575669690839, + 0.07755836005085466, + 0.09225440877047783 + ], + [ + -0.2714221194130387, + -0.09159142449462972, + 0.9580923984942051, + 0.5281406110894635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.960553913591439, + 0.037437528657904735, + 0.27556235325631656, + 0.20870839085401602 + ], + [ + -0.062302288187152215, + 0.9946800158146455, + 0.0820371319929081, + 0.093881983870019 + ], + [ + -0.271025098414917, + -0.09596925334171019, + 0.9577762256614117, + 0.540363669394513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9605971300944649, + 0.03737697775156938, + 0.2754198888759421, + 0.21150505095577402 + ], + [ + -0.062902222104117, + 0.9944417611829008, + 0.08443277840871256, + 0.09633304372041455 + ], + [ + -0.27073319727850503, + -0.09843040764727694, + 0.9576089967944896, + 0.5522454639878345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9606094654368061, + 0.03748553553906205, + 0.27536210621391516, + 0.21369453298875574 + ], + [ + -0.06353881586619861, + 0.9942401574403237, + 0.08630949085333435, + 0.09956712908767926 + ], + [ + -0.2705407063484811, + -0.10040589603399898, + 0.9574582926948175, + 0.5644297729956134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9606099715882918, + 0.037394974268018064, + 0.2753726536616078, + 0.2157103812976123 + ], + [ + -0.0639679352818192, + 0.9940506178681053, + 0.0881559548290371, + 0.10100683425223915 + ], + [ + -0.27043776685389653, + -0.10229850935146859, + 0.9572870150814463, + 0.5773356529483183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9606492912850906, + 0.03703084042368552, + 0.2752846817586637, + 0.21800671014130185 + ], + [ + -0.06395502723001333, + 0.9939332383474435, + 0.08947889248405155, + 0.10181291196845249 + ], + [ + -0.27030111661896894, + -0.10356367396765984, + 0.9571895694108137, + 0.5899693601680104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.960759416789196, + 0.036321529437728886, + 0.27499470822215527, + 0.2208663367303917 + ], + [ + -0.06332059187548003, + 0.9939316772422094, + 0.08994622626340398, + 0.10255700308825429 + ], + [ + -0.27005896707093996, + -0.10382951157446887, + 0.9572291192973521, + 0.6017491955629992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9608893168531497, + 0.03542177080080529, + 0.2746580035440858, + 0.22484739833107045 + ], + [ + -0.062458723399431065, + 0.9939518943165372, + 0.09032463482284975, + 0.1056355553837366 + ], + [ + -0.2697973843994808, + -0.1039467649227383, + 0.9572901552994768, + 0.6139627546111218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9609751561686931, + 0.034601400408305116, + 0.27446218740719075, + 0.22927515274574817 + ], + [ + -0.06171661047185541, + 0.993956712943087, + 0.09078057494441703, + 0.10827655657130782 + ], + [ + -0.26966239859947294, + -0.10417675309375789, + 0.957303188596184, + 0.6255992060553104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9610609736326303, + 0.033880799899437306, + 0.2742515202482474, + 0.23387524081908984 + ], + [ + -0.061120643949804945, + 0.9939372116968253, + 0.09139521917201943, + 0.11020597808229872 + ], + [ + -0.269492248206626, + -0.10459880784461448, + 0.9573050807104408, + 0.6377769140399144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9611634763752864, + 0.03333803162263065, + 0.27395865989178536, + 0.23828953955965612 + ], + [ + -0.06075481108561539, + 0.993884579826815, + 0.09220788964306069, + 0.1110097176682207 + ], + [ + -0.26920925803568796, + -0.10527116238554675, + 0.9573110036753315, + 0.6504973100422909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9616261358832281, + 0.033513851467931705, + 0.27230864207012717, + 0.24113599846607908 + ], + [ + -0.06069780178209361, + 0.9939050808251776, + 0.0920242748883076, + 0.11325104540630102 + ], + [ + -0.2675648550260532, + -0.10502148384822287, + 0.9577993194219782, + 0.6622494016991557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.962201148352402, + 0.0339141631833179, + 0.2702198727793617, + 0.243467597396375 + ], + [ + -0.06077117207346633, + 0.9939351937487909, + 0.09164985145853055, + 0.11616996617038527 + ], + [ + -0.265472813587637, + -0.10460717070606992, + 0.9584265882594947, + 0.6741532445872136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629295592821044, + 0.034219266539092866, + 0.2675737387306513, + 0.24550973289381717 + ], + [ + -0.06072703561871212, + 0.9939584618198968, + 0.09142649135556202, + 0.11892656087966345 + ], + [ + -0.2628286342956871, + -0.1042862309902487, + 0.9591900182029173, + 0.6864485865397107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9639164190124168, + 0.03383732221206532, + 0.26404577781853705, + 0.24761177749259775 + ], + [ + -0.06009230668405476, + 0.9939443539106602, + 0.09199747826168996, + 0.11997917185315615 + ], + [ + -0.25933386172204526, + -0.10454499966348214, + 0.9601126450629082, + 0.6996446276334994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9658520607454447, + 0.03269787360276493, + 0.25702265623021564, + 0.249891613707706 + ], + [ + -0.05821694674571903, + 0.9940267575164228, + 0.0923124718171557, + 0.12101936916079745 + ], + [ + -0.2524689760453433, + -0.10412326542730331, + 0.9619863625495798, + 0.7117719714510606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9678530982362812, + 0.031990275005452984, + 0.24947345057041093, + 0.2529307944545914 + ], + [ + -0.056647935733934396, + 0.9941191848700944, + 0.09229332397472334, + 0.12353068989618522 + ], + [ + -0.24505385451266792, + -0.10345853555069631, + 0.9639735161352669, + 0.7246728487542404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9694254238584588, + 0.031511591740260275, + 0.24335440649974546, + 0.25606196469258896 + ], + [ + -0.05547081081501186, + 0.9941907891627959, + 0.09223699849508799, + 0.12663546252916616 + ], + [ + -0.23903417480430147, + -0.10291595760547953, + 0.9655418007242226, + 0.7361632773934143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9710345179248993, + 0.029999502743854697, + 0.23704850734286473, + 0.25933224212434314 + ], + [ + -0.053358728956224566, + 0.9942587983921989, + 0.0927485194700013, + 0.12942409770787472 + ], + [ + -0.23290515460705222, + -0.10271062094458637, + 0.9670603483250892, + 0.748216540021291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9726938362082883, + 0.029404885625674927, + 0.23022174898072673, + 0.2621903379356438 + ], + [ + -0.05220008790202501, + 0.9942444739377934, + 0.09355787977066225, + 0.13051698699604672 + ], + [ + -0.22614564295034434, + -0.10302076851539115, + 0.9686304090978528, + 0.7606193520103458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9744312206290411, + 0.028925926068874484, + 0.22281626301609014, + 0.26440643027054495 + ], + [ + -0.050983194126253906, + 0.994276725022618, + 0.09388561122441688, + 0.13198454381378583 + ], + [ + -0.21882529602420775, + -0.10284495553674788, + 0.970329018910886, + 0.7724195861140238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762425108263414, + 0.028401401132739118, + 0.21481136019582056, + 0.26597856201295733 + ], + [ + -0.04955341684693082, + 0.9943634395776999, + 0.09373264591379543, + 0.13416154429134003 + ], + [ + -0.21093842450884956, + -0.10215043046851974, + 0.972147247396618, + 0.7835739233388322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.978128303676563, + 0.027706566070362752, + 0.2061488970220266, + 0.26713436344037345 + ], + [ + -0.047959224168245974, + 0.9944254590592768, + 0.09390377623890665, + 0.1370001389053743 + ], + [ + -0.20239796037507252, + -0.10173668252570132, + 0.9740044728155386, + 0.7947766289594564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.979951367795309, + 0.026868563739568176, + 0.19741681042574893, + 0.2684402780040569 + ], + [ + -0.04631722542122416, + 0.994440284934835, + 0.0945686751942948, + 0.13869598839687153 + ], + [ + -0.19377830473348362, + -0.10181650151766797, + 0.9757475947361184, + 0.8066117974342045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817041535523893, + 0.025762516530206097, + 0.188661728074397, + 0.2698618315414155 + ], + [ + -0.044395663497354604, + 0.99446623908653, + 0.09521514784803028, + 0.13986191143250656 + ], + [ + -0.18516473735735026, + -0.10184886871793652, + 0.97741538149359, + 0.8183152241666187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9836017306472111, + 0.02413627067303522, + 0.17873185475960676, + 0.2715530572088543 + ], + [ + -0.04176600509328698, + 0.9945487965918056, + 0.09554209551992686, + 0.14108252760607878 + ], + [ + -0.17545152118565036, + -0.10144028605928358, + 0.9792479931446642, + 0.8305511535447992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9852972225985513, + 0.022954937982224997, + 0.16929989356704558, + 0.2730243404009315 + ], + [ + -0.03957065152592774, + 0.9946490657013533, + 0.09543269689806852, + 0.1436399343147974 + ], + [ + -0.1662033293210288, + -0.10072887829047453, + 0.9809333037474813, + 0.8405965342645034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9871506465239199, + 0.021405878191734267, + 0.15835210591036628, + 0.2748523314154513 + ], + [ + -0.03690074470658113, + 0.9947387397926083, + 0.0955676440847711, + 0.1459577174121985 + ], + [ + -0.15547326492843375, + -0.10018297227899757, + 0.9827468829550359, + 0.8508247426651268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.989073241567126, + 0.0195987708690517, + 0.14611642959065285, + 0.2765879259186476 + ], + [ + -0.033901535175353284, + 0.9947991637107562, + 0.09604847626659385, + 0.14762328091134722 + ], + [ + -0.14347406988251254, + -0.0999525490460477, + 0.9845936619796745, + 0.8612306460001788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991017051954891, + 0.017571875289979742, + 0.1325761363648463, + 0.2779726779205483 + ], + [ + -0.03061160839417658, + 0.9948164935820206, + 0.09696944636685835, + 0.1483357461175924 + ], + [ + -0.13018499209263143, + -0.10015674363699549, + 0.986418012070884, + 0.8718297785549877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_081/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ba6658a6596ddfe19916bd2de1d3a08a94317de2 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/tilt_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998810334246, + -0.00045718903231943, + 0.00017003330665892364, + 0.005134101651344014 + ], + [ + 0.00045658292101556197, + 0.9999936023754765, + 0.003547779608965516, + 0.0025200115975058442 + ], + [ + -0.00017165422477597667, + -0.0035477015525945013, + 0.999993692154366, + 0.007918551976435541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999569456473, + -0.0009065655477189486, + 0.00019805498477654378, + 0.010038287829340253 + ], + [ + 0.000905078920324842, + 0.9999723465921573, + 0.00738152308965852, + 0.003321722960953025 + ], + [ + -0.00020474134240405076, + -0.007381340656199745, + 0.9999727365739031, + 0.01616344960999143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999994051094394, + -0.0010647874483000158, + 0.0002366610596298037, + 0.014280256118301598 + ], + [ + 0.0010620532126588787, + 0.9999359513701128, + 0.011267883586573907, + 0.003537438671322563 + ], + [ + -0.0002486438028250765, + -0.011267625536777633, + 0.9999364873785845, + 0.024535805926295073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998430661549, + -0.000491476995127505, + 0.0002689201163261688, + 0.017287592472564114 + ], + [ + 0.0004873829793287499, + 0.999887106622208, + 0.01501787163684981, + 0.004844303969031455 + ], + [ + -0.00027627069545117, + -0.015017738212949971, + 0.9998871892436018, + 0.03300075251688775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999999625541605, + 0.00018675259302964358, + 0.0002000378631463986, + 0.01932981741101527 + ], + [ + -0.00019045938161307702, + 0.9998252421743267, + 0.01869355065986658, + 0.0076836998120425395 + ], + [ + -0.0001965118359057217, + -0.018693588058958596, + 0.9998252403038143, + 0.04304893723773268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999843842303, + 0.0005321651653459321, + -0.00017063295784961724, + 0.020882400855607483 + ], + [ + -0.0005282134560870304, + 0.9997494381082579, + 0.022378158833275003, + 0.009369938482063552 + ], + [ + 0.00018249908032855224, + -0.022378065208128867, + 0.9997495630864893, + 0.052098756712663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999995308365015, + 0.0005414486549841119, + -0.0008032186072522882, + 0.02248491705394307 + ], + [ + -0.000520318845952188, + 0.999659791535963, + 0.026077393554066113, + 0.009967296216755357 + ], + [ + 0.0008170649151489695, + -0.02607696338972615, + 0.9996596042580173, + 0.06106347007765825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999985781942532, + 8.711984922150885e-06, + -0.001686278023825713, + 0.024441935522745803 + ], + [ + 4.1368671704212394e-05, + 0.9995589573046713, + 0.02969661867337016, + 0.009079649364857176 + ], + [ + 0.0016857930197151324, + -0.029696646209629033, + 0.9995575357655982, + 0.06966530957261123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967928195441, + -0.00031944332582782597, + -0.0025124304144624665, + 0.027330036981552803 + ], + [ + 0.00040185018699476774, + 0.9994596254031282, + 0.03286785215779247, + 0.010323273486754029 + ], + [ + 0.0025005733448839793, + -0.03286875636529127, + 0.9994565483241112, + 0.07736198273982968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999946827562619, + -0.0008140794768614352, + -0.0031578052201466093, + 0.030917812177415533 + ], + [ + 0.0009275341457248904, + 0.9993479374412172, + 0.0360948696131961, + 0.01244974399813301 + ], + [ + 0.0031263620410225297, + -0.03609760666014391, + 0.9993433787511669, + 0.08493778541142084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999924276762973, + -0.0014675267085724009, + -0.0036042968003818505, + 0.03513642347605601 + ], + [ + 0.0016086911660815853, + 0.9992190583522034, + 0.03948019172279038, + 0.015040716370402529 + ], + [ + 0.003543543819086658, + -0.039485690966421516, + 0.9992138527392956, + 0.09265638504066555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999908539978035, + -0.0018550991571347785, + -0.0038536382628945633, + 0.03980425432475483 + ], + [ + 0.00201961804204542, + 0.9990671640162826, + 0.04313609773063434, + 0.01683454801632596 + ], + [ + 0.0037700217119125217, + -0.043143486085153004, + 0.9990617731375334, + 0.10131549051514151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999899287701002, + -0.00204813168622638, + -0.003993433981721902, + 0.04417270784042628 + ], + [ + 0.002232957729064116, + 0.9988998580640169, + 0.04684108730022567, + 0.017690126508804555 + ], + [ + 0.0038931039224131417, + -0.04684953272214169, + 0.9988943713053782, + 0.11057098387885732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999898324559524, + -0.0018920503039735487, + -0.004093303111592111, + 0.0488526036282391 + ], + [ + 0.0020963021744118573, + 0.9987226570125147, + 0.0504842538526268, + 0.019321900405455762 + ], + [ + 0.003992555811719127, + -0.0504923213519654, + 0.9987164687650745, + 0.1208697728542306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999903698077597, + -0.0014252688742167035, + -0.004150771058038206, + 0.05288402384030374 + ], + [ + 0.0016470132607435378, + 0.9985439761319703, + 0.053918596772115725, + 0.021996207064846174 + ], + [ + 0.004067878938586238, + -0.05392491390063838, + 0.9985367073982557, + 0.12971026346602466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999990997261657, + -0.0010222848796853042, + -0.004118292032153412, + 0.056967628881570025 + ], + [ + 0.0012563117039163538, + 0.9983602021067733, + 0.057230486021227316, + 0.025295565898492876 + ], + [ + 0.0040530330050388514, + -0.05723514464861654, + 0.9983524984395604, + 0.13897617431461384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999938569131969, + -0.0007561528247976677, + -0.0034226260056097256, + 0.06147445454103139 + ], + [ + 0.0009621543408406913, + 0.9981621253060539, + 0.06059245715042615, + 0.02673858117520448 + ], + [ + 0.003370518490251446, + -0.06059537802017063, + 0.9981567210451973, + 0.1484435444592344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999982377416984, + -0.0006517015363576196, + -0.0017606244931104224, + 0.06650258009989496 + ], + [ + 0.0007622136878874326, + 0.9979805634931702, + 0.06351546205570038, + 0.02776237173443854 + ], + [ + 0.0017156758995300518, + -0.06351669209713796, + 0.9979793015294686, + 0.15773477682520207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999990701681498, + -0.0007446284678146935, + 0.0011424496841349228, + 0.07216441625876492 + ], + [ + 0.0006679855926368375, + 0.9978405479117813, + 0.06567948491244396, + 0.029118756407285062 + ], + [ + -0.0011888894329960442, + -0.06567866070163768, + 0.9978401174889469, + 0.16662052439561958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999858718478508, + -0.0008017580038337264, + 0.00525483480206467, + 0.07863403093845381 + ], + [ + 0.0004417906921940399, + 0.9976750852607589, + 0.06814858084305181, + 0.03226925523169714 + ], + [ + -0.0052972564293218985, + -0.06814529649242834, + 0.9976613441645823, + 0.1752829413745298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999293459592579, + -3.957426437353997e-05, + 0.011887031730786287, + 0.08509138624694973 + ], + [ + -0.0008057143128650192, + 0.9974690857516275, + 0.07109693238290003, + 0.034418123544771625 + ], + [ + -0.01185976028160625, + -0.07110148664894578, + 0.9973985786446524, + 0.184870251554377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998010595223524, + 0.001257933289082388, + 0.01990625484167768, + 0.09113215726240662 + ], + [ + -0.0027339104009323507, + 0.9972326379133775, + 0.0742939540894585, + 0.03574957695303044 + ], + [ + -0.019757710188715482, + -0.07433359593190089, + 0.9970376870529679, + 0.19485607286022766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995896704338056, + 0.0029294786303034484, + 0.0284940154592333, + 0.09654687789245468 + ], + [ + -0.00512744302151352, + 0.9969889939018667, + 0.07737347973695824, + 0.036516988519027314 + ], + [ + -0.028181555849483605, + -0.07748783255130415, + 0.9965949205752577, + 0.205562188147674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993224706677482, + 0.00511471820849392, + 0.03644776092102096, + 0.10030182103466531 + ], + [ + -0.008034456238718537, + 0.9967289145875227, + 0.08041715201452831, + 0.03954794684221734 + ], + [ + -0.035917226110270796, + -0.0806555049753415, + 0.9960946954912053, + 0.21480268206107708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989825514562434, + 0.0070824079093835795, + 0.044538762714958824, + 0.10357373208749503 + ], + [ + -0.010797894719305482, + 0.996428913738131, + 0.08374261362221386, + 0.0421073551618267 + ], + [ + -0.04378661160223636, + -0.0841383346926578, + 0.9954915736858556, + 0.22445918496211262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9985663970862058, + 0.008653949726156173, + 0.052822909465602204, + 0.1066542690763431 + ], + [ + -0.013243207408047198, + 0.9961064243348652, + 0.08715852715803156, + 0.04392558230867616 + ], + [ + -0.05186297395851388, + -0.08773312118548526, + 0.9947930093136117, + 0.2343704962397457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980664103466143, + 0.009446545226209899, + 0.061434545014295544, + 0.11003014163413188 + ], + [ + -0.014986219416993142, + 0.9957976335293068, + 0.09034647909585945, + 0.04436905594369115 + ], + [ + -0.06032291244137729, + -0.09109245765002723, + 0.9940137375277409, + 0.24429741646943298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973807182650862, + 0.010655001564867324, + 0.07154141300445127, + 0.11379986570587032 + ], + [ + -0.017315430696549287, + 0.9955029356281254, + 0.09313474655345966, + 0.04614707726680683 + ], + [ + -0.07022733579464475, + -0.09412957079173814, + 0.9930799289129497, + 0.2531231169378839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9965477915367277, + 0.011641007144169073, + 0.08220088889994046, + 0.11781855985101347 + ], + [ + -0.019546616101129743, + 0.9951860084926075, + 0.09603508889747854, + 0.04848743242286384 + ], + [ + -0.08068722936292959, + -0.0973103049693143, + 0.9919779612292366, + 0.26174788558911066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9955357038874815, + 0.012435249675900439, + 0.0935629566161459, + 0.12204781449874412 + ], + [ + -0.02174611624101804, + 0.9948335050316668, + 0.09916351998008442, + 0.051021641209880335 + ], + [ + -0.09184644094187272, + -0.10075545559376171, + 0.990662692067489, + 0.2704361891290613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9941092263108392, + 0.013875417376747927, + 0.10749101802609162, + 0.12640205366470414 + ], + [ + -0.024981756517517963, + 0.9944009881300024, + 0.10267709894311534, + 0.05231103627112467 + ], + [ + -0.10546448693737602, + -0.10475756583032984, + 0.9888898292511356, + 0.2798745398494121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9923190683868242, + 0.015226292986479453, + 0.122764109241242, + 0.13075068808842705 + ], + [ + -0.028330347241876705, + 0.9939929009831934, + 0.10571425741200019, + 0.05333218774331278 + ], + [ + -0.12041701682511653, + -0.10838022327392502, + 0.9867894756542726, + 0.29034969495305946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906972298998175, + 0.01660096253649323, + 0.13506815580176718, + 0.13392912872220927 + ], + [ + -0.03143625260982976, + 0.9936040157722638, + 0.10845654366188526, + 0.05502034488299491 + ], + [ + -0.1324037789894211, + -0.1116936340356665, + 0.9848826180947796, + 0.2992067777942966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9890780272688723, + 0.018240776032318138, + 0.14625980330786595, + 0.1364637562125644 + ], + [ + -0.034739820950934065, + 0.9932063914068497, + 0.11105948365124639, + 0.057606660291578606 + ], + [ + -0.14324036028373385, + -0.11492753437850839, + 0.9829922995768906, + 0.30767375216185544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9872628544061562, + 0.01966747120578079, + 0.15787731593290583, + 0.13832320432031717 + ], + [ + -0.0380133851640646, + 0.9927486255144965, + 0.11404012051662733, + 0.0602534052597145 + ], + [ + -0.1544896076057456, + -0.11858902611729384, + 0.9808514688913785, + 0.31633492671348296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9851150195684035, + 0.0204900010834808, + 0.1706709057699725, + 0.14024384702884746 + ], + [ + -0.041114510381613505, + 0.9921380582397709, + 0.11820182074865629, + 0.06145245575137913 + ], + [ + -0.16690714561343398, + -0.12345943968695237, + 0.9782125390196957, + 0.3253221038352624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9828268536790871, + 0.020907283879386993, + 0.18334192419643985, + 0.14232360160886598 + ], + [ + -0.04393841633121413, + 0.9914988403841554, + 0.12247230334724757, + 0.0621954005371089 + ], + [ + -0.17922274202112654, + -0.1284248223579151, + 0.9753903186646702, + 0.3340810909353593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9805457503468439, + 0.02102347760405434, + 0.19516158655375132, + 0.14463454564093298 + ], + [ + -0.04638017931204668, + 0.9909094651416377, + 0.12628266254595866, + 0.06298244385543127 + ], + [ + -0.1907325626203558, + -0.1328775574811108, + 0.9726071376841353, + 0.3422786487936788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776973370077081, + 0.02083945599869501, + 0.20898237792147664, + 0.14785512342508175 + ], + [ + -0.04908565903732195, + 0.9901794700918858, + 0.13090154729958065, + 0.06516278720530544 + ], + [ + -0.2042021431937192, + -0.13824013195245088, + 0.9691187495002154, + 0.350341380991782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9743208039706553, + 0.02048939112428819, + 0.2242301402606985, + 0.1512690099283934 + ], + [ + -0.05223079637739826, + 0.9892542444756444, + 0.13655762042707642, + 0.06733750130299383 + ], + [ + -0.21902263549633258, + -0.14476264932046062, + 0.9649211680246021, + 0.35863027191724095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698339933878807, + 0.019724266780337948, + 0.24296703185678192, + 0.15525927168988604 + ], + [ + -0.0561335407186492, + 0.9880051380248988, + 0.1438571264928815, + 0.06917158761211503 + ], + [ + -0.2372151995039613, + -0.1531561312399187, + 0.9593081614308913, + 0.36842055600987406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9652370350541465, + 0.018308495342985853, + 0.26073408898369305, + 0.15884022625091437 + ], + [ + -0.05973029220521476, + 0.9865981246747645, + 0.1518434476074546, + 0.06971981134368439 + ], + [ + -0.2544597381767107, + -0.16213864248387555, + 0.953394620427725, + 0.3776788079331509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9618708835996563, + 0.017258211682005118, + 0.2729588932655526, + 0.16153281666880545 + ], + [ + -0.06259395605985763, + 0.985410051506107, + 0.1582688442350792, + 0.0715365790030762 + ], + [ + -0.2662449998553829, + -0.1693197700219034, + 0.9489174966938574, + 0.3867504488279708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9599644527883817, + 0.014722184288505656, + 0.2797347076650982, + 0.16374955367897018 + ], + [ + -0.06421958956999167, + 0.9835874253028878, + 0.1686167877214424, + 0.07398684459398716 + ], + [ + -0.272661133457199, + -0.17983057047068338, + 0.9451544171330015, + 0.3959460503234158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.959228597493123, + 0.011401373620736281, + 0.28240132158142767, + 0.16578339590707644 + ], + [ + -0.06491814104654646, + 0.9813591731654175, + 0.18088617472639762, + 0.07650618292176144 + ], + [ + -0.2750747765870896, + -0.1918441605148526, + 0.9420879392933095, + 0.40544527511069284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9592117081109408, + 0.008354349806238923, + 0.2825652205459945, + 0.16812508992291472 + ], + [ + -0.06504616922240618, + 0.9792651059420164, + 0.1918563216416437, + 0.07809244318339112 + ], + [ + -0.2751034258099699, + -0.2024106151457644, + 0.9398659734153226, + 0.4156322406923414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9594122725254143, + 0.005654731017204702, + 0.28195055478708203, + 0.17096280746528889 + ], + [ + -0.0643876409692216, + 0.977782982405906, + 0.19948601707345434, + 0.07894196968788962 + ], + [ + -0.274558414582469, + -0.2095434640701899, + 0.9384610879772407, + 0.42532380007429565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9596336043928115, + 0.0028344314718231956, + 0.28123888656850504, + 0.17421088391790293 + ], + [ + -0.06375173063533834, + 0.976114235464371, + 0.20769380386714925, + 0.08078948969062405 + ], + [ + -0.27393258689148353, + -0.21723941935578392, + 0.9368927219895039, + 0.43469755412622413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9599138092593164, + -0.0007671396331525842, + 0.28029429228946684, + 0.17857860961082733 + ], + [ + -0.06307838922171956, + 0.9737540500983576, + 0.21868737213254835, + 0.08402305826230018 + ], + [ + -0.27310546608675396, + -0.22760154088632545, + 0.9346715695792337, + 0.4452960287634617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9602923646695127, + -0.005154044448926826, + 0.27894804208535806, + 0.18349300037580404 + ], + [ + -0.06213397393469135, + 0.9707685069377358, + 0.23183587992578558, + 0.08662966841704287 + ], + [ + -0.27198886675840117, + -0.2399623757252346, + 0.9319013438104823, + 0.45574640368590574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9604607716557428, + -0.007983736729642697, + 0.27830085529564375, + 0.18755318492558454 + ], + [ + -0.062009186446761656, + 0.968346961188231, + 0.24178300923292623, + 0.08731006331723584 + ], + [ + -0.2714221194130387, + -0.2494803052454247, + 0.9295642045539317, + 0.46706222068545794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.960553913591439, + -0.009769564598468419, + 0.277922173803615, + 0.19079683789235544 + ], + [ + -0.062302288187152215, + 0.9664199688099124, + 0.24930075967010798, + 0.08854957029047998 + ], + [ + -0.271025098414917, + -0.25678200772835363, + 0.927689816984201, + 0.4781082147265212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9605971300944649, + -0.010714065664383014, + 0.2777379384441688, + 0.19325848331774284 + ], + [ + -0.062902222104117, + 0.9649508548041407, + 0.254780608106509, + 0.09073937215083734 + ], + [ + -0.27073319727850503, + -0.2622118544415898, + 0.9262550832689991, + 0.4888038679501995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9606094654368061, + -0.011505876803564371, + 0.2776635909012829, + 0.19510759081931647 + ], + [ + -0.06353881586619861, + 0.963583538631087, + 0.2597490769136897, + 0.09374123845507919 + ], + [ + -0.2705407063484811, + -0.26715983769678736, + 0.9248963981605136, + 0.4998013382387132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.960609971588292, + -0.012505452064582846, + 0.2776186163674943, + 0.19677851135837676 + ], + [ + -0.06396793528181921, + 0.9622113277425403, + 0.26468370561808163, + 0.09494611235774285 + ], + [ + -0.2704377668538966, + -0.27201649661849325, + 0.9235098482563568, + 0.5115221706614689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9606492912850906, + -0.0137558930624222, + 0.27742334898041376, + 0.1987367824181954 + ], + [ + -0.06395502723001333, + 0.9609835014037711, + 0.26911050615268933, + 0.09554938949456888 + ], + [ + -0.27030111661896894, + -0.2762634348512369, + 0.9222883610448172, + 0.5229660903092535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.960759416789196, + -0.015306914096351341, + 0.27696036075895597, + 0.20127296376956313 + ], + [ + -0.06332059187548003, + 0.9600094931024917, + 0.2727128082757313, + 0.09614833446698676 + ], + [ + -0.27005896707093996, + -0.2795486925992389, + 0.9213689178448735, + 0.5335466208130628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9608893168531497, + -0.017033256114229952, + 0.27640837350491915, + 0.20493469307412424 + ], + [ + -0.062458723399431065, + 0.9590603644561984, + 0.27622839318299264, + 0.09908701935908 + ], + [ + -0.2697973843994808, + -0.28268902616707936, + 0.9204869829910186, + 0.5445592183519098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9609751561686931, + -0.018705261091218957, + 0.2760015623761306, + 0.20903356642446785 + ], + [ + -0.06171661047185541, + 0.9580685188324045, + 0.27981381884057843, + 0.10158148916915706 + ], + [ + -0.26966239859947294, + -0.2859280091732745, + 0.9195256191927373, + 0.5549980958963417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9610609736326303, + -0.020274027568987947, + 0.2755916703502348, + 0.21330637680047126 + ], + [ + -0.061120643949804945, + 0.957008664138272, + 0.2835466163568901, + 0.10335133664439726 + ], + [ + -0.269492248206626, + -0.2893499275451994, + 0.918504516911118, + 0.5659790329866313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9611634763752864, + -0.021649704916704003, + 0.27512917322449487, + 0.21740019174290748 + ], + [ + -0.06075481108561539, + 0.9558628989326603, + 0.2874629913119292, + 0.10397886608293731 + ], + [ + -0.26920925803568796, + -0.2930143490020084, + 0.9174251831440011, + 0.5775023460120469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9616261358832281, + -0.022045244798582317, + 0.2734761085873166, + 0.22003207870564423 + ], + [ + -0.06069780178209361, + 0.9549741417309339, + 0.2904137832198871, + 0.10611916410245717 + ], + [ + -0.2675648550260532, + -0.29586888279614076, + 0.9169899958820982, + 0.5880199544439524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.962201148352402, + -0.022120648284045596, + 0.2714399142145692, + 0.22218778241500026 + ], + [ + -0.06077117207346633, + 0.9541247763274154, + 0.2931770383965579, + 0.108952540368026 + ], + [ + -0.265472813587637, + -0.2985910047500647, + 0.9167156577304713, + 0.5986771507617784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629295592821047, + -0.022160214973834805, + 0.26884119612344715, + 0.22410383379536505 + ], + [ + -0.060727035618712136, + 0.9532294482549261, + 0.29608418756254706, + 0.1116124415712185 + ], + [ + -0.26282863429568715, + -0.3014341451327691, + 0.916547088338805, + 0.6097133850834774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9639164190124168, + -0.022668418252894413, + 0.2652381570818784, + 0.2261580580448416 + ], + [ + -0.06009230668405476, + 0.952121080708591, + 0.29975717230400795, + 0.11250437674439384 + ], + [ + -0.25933386172204526, + -0.304879632780245, + 0.9164029450411617, + 0.6216354752221381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9658520607454447, + -0.023144140448304016, + 0.2580584149309748, + 0.2286872445687132 + ], + [ + -0.05821694674571903, + 0.9511480142095818, + 0.3031967054187354, + 0.1134035902358821 + ], + [ + -0.2524689760453433, + -0.30786653573923634, + 0.9173208884063078, + 0.6324080965407203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9678530982362814, + -0.02303718152179866, + 0.2504589157965104, + 0.23203739296931944 + ], + [ + -0.05664793573393441, + 0.9502450933884867, + 0.30630911489570595, + 0.11580112401330214 + ], + [ + -0.24505385451266798, + -0.31065020643585356, + 0.9183926489415333, + 0.6439400667779118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9694254238584588, + -0.022973104304811198, + 0.24430837901195382, + 0.2353768401401106 + ], + [ + -0.05547081081501186, + 0.9493198823482829, + 0.30937800523917036, + 0.11879531765708369 + ], + [ + -0.23903417480430147, + -0.31347088773416143, + 0.9190204926000204, + 0.6540922243318553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9710345179248993, + -0.023834366133076247, + 0.2377475299333165, + 0.23888680836602108 + ], + [ + -0.053358728956224566, + 0.9482541231477538, + 0.3129967475509308, + 0.1214245379035871 + ], + [ + -0.23290515460705222, + -0.31661655187990323, + 0.9195157138587389, + 0.6648075849782521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9726938362082883, + -0.023641153238653147, + 0.23088481300412614, + 0.24204593489983017 + ], + [ + -0.05220008790202501, + 0.9470270312259786, + 0.3168831850230148, + 0.12233067251611376 + ], + [ + -0.22614564295034434, + -0.32028252840399507, + 0.9199332857189806, + 0.6758641912142836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9744312206290411, + -0.023157481004011764, + 0.22348943450853845, + 0.24463148692786693 + ], + [ + -0.050983194126253906, + 0.9459408846692745, + 0.320306972493256, + 0.12365219581761884 + ], + [ + -0.21882529602420775, + -0.3235113194073116, + 0.9205736885416934, + 0.6863028856856827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762425108263414, + -0.02253004798267127, + 0.21550628063557647, + 0.24664553959533347 + ], + [ + -0.04955341684693082, + 0.9450076469580052, + 0.3232723404030866, + 0.12572560615909845 + ], + [ + -0.21093842450884956, + -0.3262712738332833, + 0.9214401971571088, + 0.6960806710731366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.978128303676563, + -0.02186050543685938, + 0.20685052537727464, + 0.2483232765871135 + ], + [ + -0.047959224168245974, + 0.9439644467102905, + 0.3265440799710125, + 0.12843141932357408 + ], + [ + -0.20239796037507252, + -0.3293223977335585, + 0.9222699301110442, + 0.7058987208150386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9799513677953092, + -0.021256861019704087, + 0.19809962800493172, + 0.2501792230396751 + ], + [ + -0.04631722542122417, + 0.9427457286007533, + 0.33028049569163914, + 0.12994838594139926 + ], + [ + -0.19377830473348368, + -0.3328342486352995, + 0.922860407401896, + 0.7163551449211135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817041535523895, + -0.020850614433136655, + 0.1892675534151259, + 0.2521747945344408 + ], + [ + -0.04439566349735461, + 0.9415279384071417, + 0.33399725487109594, + 0.13093549132175372 + ], + [ + -0.18516473735735028, + -0.3362891509944364, + 0.9233762109578224, + 0.7266825321515946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9836017306472113, + -0.020601815036902518, + 0.17917366068983592, + 0.25457353100669167 + ], + [ + -0.041766005093286984, + 0.9404294334333131, + 0.3374138135151634, + 0.13200602853168572 + ], + [ + -0.17545152118565038, + -0.3393641789427447, + 0.9241475627648208, + 0.7375225941960561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9852972225985516, + -0.019980462410683637, + 0.169676646187494, + 0.25672922564510336 + ], + [ + -0.039570651525927744, + 0.939444593966232, + 0.3404086050696064, + 0.13445453723835832 + ], + [ + -0.16620332932102883, + -0.3421178685621038, + 0.9248415093047722, + 0.7461817037788083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9871506465239199, + -0.019270264635483342, + 0.15862615789423148, + 0.2594130010891906 + ], + [ + -0.03690074470658113, + 0.9383782765923293, + 0.34363431880373935, + 0.13663987211393333 + ], + [ + -0.15547326492843375, + -0.345072263331159, + 0.9256096353063772, + 0.7550069215770108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9890732415671262, + -0.018408183901130647, + 0.14627119190517307, + 0.26215892849657063 + ], + [ + -0.03390153517535329, + 0.9371842012114002, + 0.3471836097981937, + 0.13813849388002108 + ], + [ + -0.14347406988251257, + -0.3483488363195897, + 0.9263197501436187, + 0.764002021879686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991017051954891, + -0.017340100858408952, + 0.1326066500476395, + 0.26471506428406366 + ], + [ + -0.03061160839417658, + 0.9358214040564165, + 0.3511427475278377, + 0.13863880148090657 + ], + [ + -0.13018499209263143, + -0.3520477533121002, + 0.9268841606272835, + 0.7731879773478992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_081/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_081/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..27443128d65ebb423e47c60a85dd8b614a11f2c0 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_081/tilt_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999837839963, + 7.130283008105186e-05, + 0.00016537204687184845, + -0.00018787437798880634 + ], + [ + -7.128257558905576e-05, + 0.999999989958601, + -0.00012248098948755418, + 0.00013544659707406055 + ], + [ + -0.0001653807784524633, + 0.00012246919935597053, + 0.9999999788252466, + -0.00016535356047910348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998810334246, + -0.000456066382646713, + 0.00017302193868433668, + 0.005134101651344014 + ], + [ + 0.00045658292101556197, + 0.9999954041740946, + -0.002997192473865958, + 0.0025200115975058442 + ], + [ + -0.00017165422477597667, + 0.0029972711161623975, + 0.9999954934401871, + 0.007918551976435541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999569456473, + -0.0009038954203975402, + 0.00020990459330407337, + 0.010038287829340253 + ], + [ + 0.000905078920324842, + 0.9999832976872429, + -0.005708342902751702, + 0.003321722960953025 + ], + [ + -0.00020474134240405076, + 0.005708530425284293, + 0.9999836852475978, + 0.01616344960999143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999994051094394, + -0.0010599356699226002, + 0.0002575211502538951, + 0.014280256118301598 + ], + [ + 0.0010620532126588787, + 0.9999644343591817, + -0.008366723354760963, + 0.003537438671322563 + ], + [ + -0.0002486438028250765, + 0.008366991878641171, + 0.9999649651978623, + 0.024535805926295073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998430661549, + -0.0004842690702521694, + 0.00028169333201469516, + 0.017287592472564114 + ], + [ + 0.0004873829793287499, + 0.9999375923330384, + -0.011161267716438812, + 0.004844303969031455 + ], + [ + -0.00027627069545117, + 0.011161403257393567, + 0.9999376714334893, + 0.03300075251688775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999999625541605, + 0.00019319765876429248, + 0.0001938203868107506, + 0.01932981741101527 + ], + [ + -0.00019045938161307702, + 0.9999015590504939, + -0.014029823007272083, + 0.0076836998120425395 + ], + [ + -0.0001965118359057217, + 0.014029785567002564, + 0.9999015584046471, + 0.04304893723773268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999843842303, + 0.0005250558668018998, + -0.0001913941123678525, + 0.020882400855607483 + ], + [ + -0.0005282134560870304, + 0.9998572299159403, + -0.016889072661547367, + 0.009369938482063552 + ], + [ + 0.00018249908032855224, + 0.016889171121134246, + 0.999857351122112, + 0.052098756712663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999995308365015, + 0.0005040940007027319, + -0.0008271735098973635, + 0.02248491705394307 + ], + [ + -0.000520318845952188, + 0.9998051449593403, + -0.019733255715448175, + 0.009967296216755357 + ], + [ + 0.0008170649151489695, + 0.01973367685129096, + 0.9998049381768693, + 0.06106347007765825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999985781942532, + -7.95529274187839e-05, + -0.0016844229884616089, + 0.024441935522745803 + ], + [ + 4.1368671704212394e-05, + 0.9997432974283837, + -0.022656953362168206, + 0.009079649364857176 + ], + [ + 0.0016857930197151324, + 0.022656851466040087, + 0.999741879278617, + 0.06966530957261123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967928195441, + -0.000466798084194045, + -0.00248926699542752, + 0.027330036981552803 + ], + [ + 0.00040185018699476774, + 0.999661129678859, + -0.02602814487463877, + 0.010323273486754029 + ], + [ + 0.0025005733448839793, + 0.026027061085273633, + 0.9996581111681188, + 0.07736198273982968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999946827562619, + -0.0010188668131084664, + -0.003097800771543961, + 0.030917812177415533 + ], + [ + 0.0009275341457248904, + 0.9995689742176693, + -0.029342894571683188, + 0.01244974399813301 + ], + [ + 0.0031263620410225297, + 0.029339865232368513, + 0.9995646042995595, + 0.08493778541142084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999924276762973, + -0.0017229916995369179, + -0.003489396748571746, + 0.03513642347605601 + ], + [ + 0.0016086911660815853, + 0.9994704876634153, + -0.03249856000790331, + 0.015040716370402529 + ], + [ + 0.003543543819086658, + 0.03249270055656268, + 0.9994656911108776, + 0.09265638504066555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999908539978035, + -0.002151733478910307, + -0.003696209379862529, + 0.03980425432475483 + ], + [ + 0.00201961804204542, + 0.9993717925926037, + -0.035382782722824455, + 0.01683454801632596 + ], + [ + 0.0037700217119125217, + 0.0353749941806652, + 0.9993669980157489, + 0.10131549051514151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999899287701002, + -0.002380093226456581, + -0.0038049329302723934, + 0.04417270784042628 + ], + [ + 0.002232957729064116, + 0.9992669669564065, + -0.038217046582967, + 0.017690126508804555 + ], + [ + 0.0038931039224131417, + 0.03820816543590954, + 0.9992622177566166, + 0.11057098387885732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999898324559524, + -0.002258656876306616, + -0.0039030057431739575, + 0.0488526036282391 + ], + [ + 0.0020963021744118573, + 0.9991523340780504, + -0.04111227096108327, + 0.019321900405455762 + ], + [ + 0.003992555811719127, + 0.04110367107083122, + 0.9991469099800044, + 0.1208697728542306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999903698077597, + -0.0018252525242933493, + -0.003991083181621165, + 0.05288402384030374 + ], + [ + 0.0016470132607435378, + 0.999020660623249, + -0.044215461042558364, + 0.021996207064846174 + ], + [ + 0.004067878938586238, + 0.044208461872243664, + 0.9990140460773469, + 0.12971026346602466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999990997261657, + -0.0014471634335593737, + -0.003988873730002006, + 0.056967628881570025 + ], + [ + 0.0012563117039163538, + 0.9988732952153404, + -0.04744008628312648, + 0.025295565898492876 + ], + [ + 0.0040530330050388514, + 0.04743464792369023, + 0.9988661207087844, + 0.13897617431461384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999938569131969, + -0.0011315094597131251, + -0.0033175024056216126, + 0.06147445454103139 + ], + [ + 0.0009621543408406913, + 0.9987178541060969, + -0.05061345817801207, + 0.02673858117520448 + ], + [ + 0.003370518490251446, + 0.05060995530580476, + 0.9987128075823658, + 0.1484435444592344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999982377416984, + -0.0008541234599265397, + -0.0016718213461474674, + 0.06650258009989496 + ], + [ + 0.0007622136878874326, + 0.9985284603675295, + -0.05422483625005998, + 0.02776237173443854 + ], + [ + 0.0017156758995300518, + 0.054223466406778394, + 0.9985273517270529, + 0.15773477682520207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999990701681498, + -0.0005971752614563738, + 0.0012259871707993337, + 0.07216441625876492 + ], + [ + 0.0006679855926368375, + 0.9982816543792419, + -0.05859430283817426, + 0.029118756407285062 + ], + [ + -0.0011888894329960442, + 0.058595067297092095, + 0.9982811250496352, + 0.16662052439561958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999858718478508, + -0.00010900527550736206, + 0.0053145293811976465, + 0.07863403093845381 + ], + [ + 0.0004417906921940399, + 0.9980350113651014, + -0.06265716966514073, + 0.03226925523169714 + ], + [ + -0.0052972564293218985, + 0.06265863234472847, + 0.9980209591321269, + 0.1752829413745298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999293459592579, + 0.0015894690001238493, + 0.011780351344029006, + 0.08509138624694973 + ], + [ + -0.0008057143128650192, + 0.9978034515780334, + -0.06623913377611139, + 0.034418123544771625 + ], + [ + -0.01185976028160625, + 0.06622496211596637, + 0.997734233390236, + 0.184870251554377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998010595223524, + 0.004101316125323952, + 0.019519748564511673, + 0.09113215726240662 + ], + [ + -0.0027339104009323507, + 0.9975732973632007, + -0.06957041125242135, + 0.03574957695303044 + ], + [ + -0.019757710188715482, + 0.06950320563795254, + 0.9973860522857473, + 0.19485607286022766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995896704338056, + 0.007169504324265414, + 0.027732453367503757, + 0.09654687789245468 + ], + [ + -0.00512744302151352, + 0.9973175347961653, + -0.07301673860260713, + 0.036516988519027314 + ], + [ + -0.028181555849483605, + 0.0728445811014427, + 0.9969450671496691, + 0.205562188147674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993224706677482, + 0.010753433521553241, + 0.035198910295714224, + 0.10030182103466531 + ], + [ + -0.008034456238718537, + 0.9970375418275947, + -0.07649567111501268, + 0.03954794684221734 + ], + [ + -0.035917226110270796, + 0.07616103894962047, + 0.9964484176386948, + 0.21480268206107708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989825514562434, + 0.014242973375760993, + 0.04279018106285213, + 0.10357373208749503 + ], + [ + -0.010797894719305482, + 0.9967612363255967, + -0.079689668265711, + 0.0421073551618267 + ], + [ + -0.04378661160223636, + 0.0791465442586449, + 0.9959008771842253, + 0.22445918496211262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9985663970862058, + 0.017474486097258886, + 0.05059439638844159, + 0.1066542690763431 + ], + [ + -0.013243207408047198, + 0.9964789753003274, + -0.08279051420275933, + 0.04392558230867616 + ], + [ + -0.05186297395851388, + 0.08200179339530664, + 0.995281838381537, + 0.2343704962397457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980664103466143, + 0.02009939457031656, + 0.05881713080158759, + 0.11003014163413188 + ], + [ + -0.014986219416993142, + 0.9961722218175102, + -0.08611804518654372, + 0.04436905594369115 + ], + [ + -0.06032291244137729, + 0.08507008179773061, + 0.9945472474535928, + 0.24429741646943298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973807182650862, + 0.023513969572074342, + 0.06840172562139318, + 0.11379986570587032 + ], + [ + -0.017315430696549287, + 0.9958056064304256, + -0.08984080398975261, + 0.04614707726680683 + ], + [ + -0.07022733579464475, + 0.08842108027329065, + 0.9936044655045037, + 0.2531231169378839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9965477915367277, + 0.026940539986366377, + 0.078528380147014, + 0.11781855985101347 + ], + [ + -0.019546616101129743, + 0.9954322387474798, + -0.09344831652403097, + 0.04848743242286384 + ], + [ + -0.08068722936292959, + 0.0915907493550709, + 0.9925223955409321, + 0.26174788558911066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9955357038874815, + 0.030449537175287134, + 0.08933917377649957, + 0.12204781449874412 + ], + [ + -0.02174611624101804, + 0.9950639012321794, + -0.09682426809962301, + 0.051021641209880335 + ], + [ + -0.09184644094187272, + 0.09444923583812813, + 0.9912838005011, + 0.2704361891290613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9941092263108392, + 0.035250808996111965, + 0.1024901294212479, + 0.12640205366470414 + ], + [ + -0.024981756517517963, + 0.9946932397884187, + -0.09980616494244686, + 0.05231103627112467 + ], + [ + -0.10546448693737602, + 0.09665784595333733, + 0.9897143541500734, + 0.2798745398494121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9923190683868242, + 0.04041765547687758, + 0.11691569459083813, + 0.13075068808842705 + ], + [ + -0.028330347241876705, + 0.9942510012452186, + -0.10325859745336144, + 0.05333218774331278 + ], + [ + -0.12041701682511653, + 0.09915321300206606, + 0.9877592735126848, + 0.29034969495305946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9906972298998175, + 0.04516159587866763, + 0.12837222801883752, + 0.13392912872220927 + ], + [ + -0.03143625260982976, + 0.9937617321662945, + -0.10700178364727012, + 0.05502034488299491 + ], + [ + -0.1324037789894211, + 0.10197082886560323, + 0.985936706573897, + 0.2992067777942966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9890780272688723, + 0.05007016426003251, + 0.13862768347227833, + 0.1364637562125644 + ], + [ + -0.034739820950934065, + 0.9932267697152853, + -0.11087708853156887, + 0.057606660291578606 + ], + [ + -0.14324036028373385, + 0.10485019109145048, + 0.9841182025620058, + 0.30767375216185544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9872628544061562, + 0.05500388836785109, + 0.14928706767240676, + 0.13832320432031717 + ], + [ + -0.0380133851640646, + 0.992710837000688, + -0.11436859992918609, + 0.0602534052597145 + ], + [ + -0.1544896076057456, + 0.107236963617079, + 0.982157418531272, + 0.31633492671348296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9851150195684035, + 0.0597661924195807, + 0.16117195929940642, + 0.14024384702884746 + ], + [ + -0.041114510381613505, + 0.9923188717672119, + -0.11667413496884341, + 0.06145245575137913 + ], + [ + -0.16690714561343398, + 0.10831093655911829, + 0.9800054825177574, + 0.3253221038352624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9828268536790871, + 0.06426344658145919, + 0.17297856838561915, + 0.14232360160886598 + ], + [ + -0.04393841633121413, + 0.9919375075148971, + -0.11886713908998783, + 0.0621954005371089 + ], + [ + -0.17922274202112654, + 0.10922541196354243, + 0.977726453627917, + 0.3340810909353593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9805457503468439, + 0.06841627152634591, + 0.18398164383214663, + 0.14463454564093298 + ], + [ + -0.04638017931204668, + 0.9915049755744196, + -0.12151856803860168, + 0.06298244385543127 + ], + [ + -0.1907325626203558, + 0.1106214138474246, + 0.9753891491885017, + 0.3422786487936788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776973370077081, + 0.07293052887939022, + 0.1969493720868611, + 0.14785512342508175 + ], + [ + -0.04908565903732195, + 0.991148294646067, + -0.12335175757590579, + 0.06516278720530544 + ], + [ + -0.2042021431937192, + 0.11093329517131315, + 0.9726228913291762, + 0.350341380991782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9743208039706553, + 0.07782626283736627, + 0.21128663886470855, + 0.1512690099283934 + ], + [ + -0.05223079637739826, + 0.9908899364255132, + -0.12413330657170918, + 0.06733750130299383 + ], + [ + -0.21902263549633258, + 0.109909993646676, + 0.9695096071916095, + 0.35863027191724095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698339933878807, + 0.08343752616388045, + 0.2290419273778672, + 0.15525927168988604 + ], + [ + -0.0561335407186492, + 0.990787223664194, + -0.12324651325772377, + 0.06917158761211503 + ], + [ + -0.2372151995039613, + 0.1066717237671272, + 0.96558277349632, + 0.36842055600987406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9652370350541465, + 0.08839488562333789, + 0.2459752230520739, + 0.15884022625091437 + ], + [ + -0.05973029220521476, + 0.9907729850962067, + -0.12166011752678696, + 0.06971981134368439 + ], + [ + -0.2544597381767107, + 0.10273867917775159, + 0.9616106308937371, + 0.3776788079331509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9618708835996563, + 0.09238916337108301, + 0.25742697173141665, + 0.16153281666880545 + ], + [ + -0.06259395605985763, + 0.9905987245150758, + -0.12163948229864117, + 0.0715365790030762 + ], + [ + -0.2662449998553829, + 0.10088810376202026, + 0.9586110736744652, + 0.3867504488279708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9599644527883817, + 0.09356487025933959, + 0.26403383199138636, + 0.16374955367897018 + ], + [ + -0.06421958956999167, + 0.9909727894361771, + -0.11768081794644364, + 0.07398684459398716 + ], + [ + -0.272661133457199, + 0.09601325768056798, + 0.9573073491055002, + 0.3959460503234158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.959228597493123, + 0.09288721079193409, + 0.26693157142359786, + 0.16578339590707644 + ], + [ + -0.06491814104654646, + 0.9916106614930441, + -0.11177625408103536, + 0.07650618292176144 + ], + [ + -0.2750747765870896, + 0.08989027803173306, + 0.9572113691348116, + 0.40544527511069284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9592117081109408, + 0.09177090622195898, + 0.2673780091819294, + 0.16812508992291472 + ], + [ + -0.06504616922240618, + 0.9921110828742382, + -0.1071662031967022, + 0.07809244318339112 + ], + [ + -0.2751034258099699, + 0.08540316158847501, + 0.9576139123354002, + 0.4156322406923414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9594122725254143, + 0.09075990606026677, + 0.2670032411405372, + 0.17096280746528889 + ], + [ + -0.0643876409692216, + 0.9922860499121725, + -0.10593690027613753, + 0.07894196968788962 + ], + [ + -0.274558414582469, + 0.08444545341005188, + 0.9578552303873128, + 0.42532380007429565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9596336043928115, + 0.08960329995002571, + 0.2665981882123857, + 0.17421088391790293 + ], + [ + -0.06375173063533834, + 0.9925207193081782, + -0.10410734164781976, + 0.08078948969062405 + ], + [ + -0.27393258689148353, + 0.0829088076264659, + 0.9581686007467045, + 0.43469755412622413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9599138092593164, + 0.08763054010314963, + 0.26624493842043295, + 0.17857860961082733 + ], + [ + -0.06307838922171956, + 0.993043794236448, + -0.09942403905330648, + 0.08402305826230018 + ], + [ + -0.27310546608675396, + 0.0786442062056096, + 0.958764044603169, + 0.4452960287634617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9602923646695127, + 0.08478438951783547, + 0.2658010189061061, + 0.18349300037580404 + ], + [ + -0.06213397393469135, + 0.9937711492657529, + -0.09251093000347825, + 0.08662966841704287 + ], + [ + -0.27198886675840117, + 0.0723222661502895, + 0.9595788379171188, + 0.45574640368590574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9604607716557428, + 0.08363667645711853, + 0.265556043918534, + 0.18755318492558454 + ], + [ + -0.062009186446761656, + 0.9941154747384181, + -0.08882163971589474, + 0.08731006331723584 + ], + [ + -0.2714221194130387, + 0.06884278638184782, + 0.9599951582463931, + 0.46706222068545794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.960553913591439, + 0.08356313100838529, + 0.26524211999651537, + 0.19079683789235544 + ], + [ + -0.062302288187152215, + 0.9942058640103042, + -0.08759637466339229, + 0.08854957029047998 + ], + [ + -0.271025098414917, + 0.06761584949994934, + 0.9601945078605609, + 0.4781082147265212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9605971300944649, + 0.08434645676214732, + 0.2648373630852505, + 0.19325848331774284 + ], + [ + -0.062902222104117, + 0.9940926283275152, + -0.0884486108384807, + 0.09073937215083734 + ], + [ + -0.27073319727850503, + 0.06830462309802961, + 0.9602281053764224, + 0.4888038679501995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9606094654368061, + 0.08530939101102541, + 0.2644839555030546, + 0.19510759081931647 + ], + [ + -0.06353881586619861, + 0.9939293134611759, + -0.08981836516502205, + 0.09374123845507919 + ], + [ + -0.2705407063484811, + 0.06947537439930723, + 0.9601983641730188, + 0.4998013382387132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.960609971588292, + 0.08608724421525367, + 0.2642299545255322, + 0.19677851135837676 + ], + [ + -0.06396793528181921, + 0.993774132415218, + -0.09121993750360961, + 0.09494611235774285 + ], + [ + -0.2704377668538966, + 0.07072453694302089, + 0.9601361643711133, + 0.5115221706614689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9606492912850906, + 0.08657740421803511, + 0.2639266796523614, + 0.1987367824181954 + ], + [ + -0.06395502723001333, + 0.9935959673883441, + -0.09314938583602705, + 0.09554938949456888 + ], + [ + -0.27030111661896894, + 0.07260445350312707, + 0.960034322139605, + 0.5229660903092535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.960759416789196, + 0.08668985412093387, + 0.2634885429072302, + 0.20127296376956313 + ], + [ + -0.06332059187548003, + 0.9933709510429715, + -0.09594089987341906, + 0.09614833446698676 + ], + [ + -0.27005896707093996, + 0.07549187251932309, + 0.9598797484519106, + 0.5335466208130628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9608893168531497, + 0.0866045275968337, + 0.2630425375432976, + 0.20493469307412424 + ], + [ + -0.062458723399431065, + 0.9931429138330956, + -0.0988233807073131, + 0.09908701935908 + ], + [ + -0.2697973843994808, + 0.07852902968226752, + 0.9597096242449386, + 0.5445592183519098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9609751561686931, + 0.08662216723671705, + 0.26272295173770027, + 0.20903356642446785 + ], + [ + -0.06171661047185541, + 0.9929064125013098, + -0.1016263548772858, + 0.10158148916915706 + ], + [ + -0.26966239859947294, + 0.08144603217464305, + 0.9595044213679196, + 0.5549980958963417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9610609736326303, + 0.08673360722829868, + 0.26237203802514436, + 0.21330637680047126 + ], + [ + -0.061120643949804945, + 0.9926693096162797, + -0.10426844503060252, + 0.10335133664439726 + ], + [ + -0.269492248206626, + 0.08417198538175173, + 0.959316947120936, + 0.5659790329866313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9611634763752864, + 0.08700168811064447, + 0.2619073842946636, + 0.21740019174290748 + ], + [ + -0.06075481108561539, + 0.9924323421537211, + -0.10670941466070763, + 0.10397886608293731 + ], + [ + -0.26920925803568796, + 0.08665305830250775, + 0.95917549117703, + 0.5775023460120469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9616261358832281, + 0.08769803658620182, + 0.25996966970247976, + 0.22003207870564423 + ], + [ + -0.06069780178209361, + 0.992060904077233, + -0.11014054412560469, + 0.10611916410245717 + ], + [ + -0.2675648550260532, + 0.09013443837062397, + 0.9593147717899996, + 0.5880199544439524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.962201148352402, + 0.08851255731763888, + 0.25755480447161305, + 0.22218778241500026 + ], + [ + -0.06077117207346633, + 0.9916479856883142, + -0.11375911886581257, + 0.108952540368026 + ], + [ + -0.265472813587637, + 0.09380724746734985, + 0.9595438424420549, + 0.5986771507617784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629295592821047, + 0.08910320190200338, + 0.2546120249940744, + 0.22410383379536505 + ], + [ + -0.060727035618712136, + 0.9912467210614663, + -0.11722698123664099, + 0.1116124415712185 + ], + [ + -0.26282863429568715, + 0.09741949186740267, + 0.959911741567193, + 0.6097133850834774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9639164190124168, + 0.08881780984530913, + 0.2509512578421592, + 0.2261580580448416 + ], + [ + -0.06009230668405476, + 0.990964541606462, + -0.11990909872100837, + 0.11250437674439384 + ], + [ + -0.25933386172204526, + 0.10050210909716037, + 0.9605442593818121, + 0.6216354752221381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9658520607454447, + 0.08702047510215037, + 0.24404350773330155, + 0.2286872445687132 + ], + [ + -0.05821694674571903, + 0.9907148295145338, + -0.12286135963595081, + 0.1134035902358821 + ], + [ + -0.2524689760453433, + 0.10445842949702223, + 0.9619500260624935, + 0.6324080965407203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9678530982362814, + 0.08548599412702705, + 0.23654286089955387, + 0.23203739296931944 + ], + [ + -0.05664793573393441, + 0.9903935123325538, + -0.12614159546585796, + 0.11580112401330214 + ], + [ + -0.24505385451266798, + 0.10868686920553934, + 0.963398034485634, + 0.6439400667779118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9694254238584588, + 0.08444228232653588, + 0.23039932407091349, + 0.2353768401401106 + ], + [ + -0.05547081081501186, + 0.9900328203121789, + -0.12945270894129174, + 0.11879531765708369 + ], + [ + -0.23903417480430147, + 0.11271430991759315, + 0.9644470683326422, + 0.6540922243318553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9710345179248993, + 0.08231028898045356, + 0.2243144697212219, + 0.23888680836602108 + ], + [ + -0.053358728956224566, + 0.989784693079563, + -0.13220857532540065, + 0.1214245379035871 + ], + [ + -0.23290515460705222, + 0.1164099552158242, + 0.9655070746939742, + 0.6648075849782521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9726938362082883, + 0.08091463561690872, + 0.2175305099184633, + 0.24204593489983017 + ], + [ + -0.05220008790202501, + 0.989516578657461, + -0.13465545434572582, + 0.12233067251611376 + ], + [ + -0.22614564295034434, + 0.11962341871479794, + 0.966720427977789, + 0.6758641912142836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9744312206290411, + 0.07945477638518962, + 0.21016834864692868, + 0.24463148692786693 + ], + [ + -0.050983194126253906, + 0.9891774706064809, + -0.1375814143016774, + 0.12365219581761884 + ], + [ + -0.21882529602420775, + 0.1233485717555927, + 0.9679362683905246, + 0.6863028856856827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762425108263414, + 0.0777633842999193, + 0.20224592979267686, + 0.24664553959533347 + ], + [ + -0.04955341684693082, + 0.9887705502190506, + -0.1409867295113649, + 0.12572560615909845 + ], + [ + -0.21093842450884956, + 0.12761526194675743, + 0.9691332859746308, + 0.6960806710731366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.978128303676563, + 0.07569994712356419, + 0.19373832752529657, + 0.2483232765871135 + ], + [ + -0.047959224168245974, + 0.9884046306712148, + -0.1440701179456709, + 0.12843141932357408 + ], + [ + -0.20239796037507252, + 0.13162752019691465, + 0.9704170554781183, + 0.7058987208150386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9799513677953092, + 0.07342600405639113, + 0.18521322491769904, + 0.2501792230396751 + ], + [ + -0.04631722542122417, + 0.9881017096569574, + -0.14666194462872129, + 0.12994838594139926 + ], + [ + -0.19377830473348368, + 0.13514301055293032, + 0.9716925106808781, + 0.7163551449211135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817041535523895, + 0.0708315068236186, + 0.17674799161258534, + 0.2521747945344408 + ], + [ + -0.04439566349735461, + 0.9877987259144022, + -0.14927391649083868, + 0.13093549132175372 + ], + [ + -0.18516473735735028, + 0.13869597947662324, + 0.9728707238458787, + 0.7266825321515946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9836017306472113, + 0.06738905419961129, + 0.16729121567462246, + 0.25457353100669167 + ], + [ + -0.041766005093286984, + 0.9874654363035543, + -0.15220910920302674, + 0.13200602853168572 + ], + [ + -0.17545152118565038, + 0.14272605746643904, + 0.9740872836834122, + 0.7375225941960561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9852972225985516, + 0.06444051305595642, + 0.15823022282947677, + 0.25672922564510336 + ], + [ + -0.039570651525927744, + 0.9870318735196987, + -0.1555707048065524, + 0.13445453723835832 + ], + [ + -0.16620332932102883, + 0.14702211035514004, + 0.975069716681493, + 0.7461817037788083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9871506465239199, + 0.06069488125447605, + 0.14781655001018076, + 0.2594130010891906 + ], + [ + -0.03690074470658113, + 0.9866383269255036, + -0.15869198745287363, + 0.13663987211393333 + ], + [ + -0.15547326492843375, + 0.15119835723693675, + 0.9762003486279571, + 0.7550069215770108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9890732415671262, + 0.05630309866338696, + 0.13625007852033966, + 0.26215892849657063 + ], + [ + -0.03390153517535329, + 0.9862950703337039, + -0.16147049311929634, + 0.13813849388002108 + ], + [ + -0.14347406988251257, + 0.15508705721734278, + 0.9774268238364512, + 0.764002021879686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991017051954891, + 0.05128635717625324, + 0.12351077808121322, + 0.26471506428406366 + ], + [ + -0.03061160839417658, + 0.9860164830819972, + -0.1638121623144354, + 0.13863880148090657 + ], + [ + -0.13018499209263143, + 0.1585597826001257, + 0.9787291061246938, + 0.7731879773478992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 589.8490905761719, + "fy": 589.8492622375488, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_117/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_117/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fccfdc8f6909dfa6cde2eb2d99c868729936490e --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_117/boom_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999997229208935, + -0.0007330710859179825, + 0.0001294794173563813, + -0.0015558756909925388 + ], + [ + 0.0007330206689579367, + 0.99999965567931, + 0.0003890012346679387, + -0.001001352181314828 + ], + [ + -0.00012976453833146042, + -0.0003889062157946972, + 0.9999999159565566, + 0.0017701852795493284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999992118486265, + 0.00033194381898673007, + 0.003956359267455808, + -0.002061922932255613 + ], + [ + -0.00033448113841842985, + 0.9999997388241555, + 0.0006406824401845768, + 0.0013628835986779016 + ], + [ + -0.003956145563574382, + -0.0006420007181888955, + 0.9999919683414252, + 0.0007775255710223079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999790825486045, + 0.0011459686378637057, + 0.006365628101955338, + -0.002511856101776854 + ], + [ + -0.0011518700222691875, + 0.99999891018819, + 0.0009234813935528162, + 0.0033172910333603995 + ], + [ + -0.006364562883903992, + -0.0009307944528592086, + 0.999979312766511, + 0.0003240016403535725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999574545432407, + 0.0017329979488223321, + 0.00906012259920048, + -0.002809383530633998 + ], + [ + -0.0017447123501058675, + 0.9999976520928671, + 0.0012852188798151047, + 0.005180514717968966 + ], + [ + -0.009057874045191495, + -0.0013009715073831253, + 0.9999581303189243, + 1.9928747060972465e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999337715300227, + 0.0026290501413887015, + 0.011204492362382542, + -0.0029189371162141025 + ], + [ + -0.002650883969407072, + 0.9999946157085787, + 0.0019342616247277297, + 0.0066311829401171 + ], + [ + -0.01119934676333246, + -0.001963835330728572, + 0.9999353569020693, + -0.000141868431908414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999148208030056, + 0.0031603233482587643, + 0.012663470883910684, + -0.0032090062376009918 + ], + [ + -0.003191967589574363, + 0.9999918318561445, + 0.002479428139651453, + 0.008274791476396887 + ], + [ + -0.012655531652218721, + -0.002519638332586474, + 0.9999167410046063, + -0.00028325821932141746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998922621314933, + 0.0034975366694537744, + 0.01425592391994458, + -0.0035216285453663855 + ], + [ + -0.0035504988828481123, + 0.9999868833525221, + 0.003691487585345043, + 0.009453843437325788 + ], + [ + -0.01424282581682147, + -0.0037417055142927092, + 0.9998915648972124, + -0.00023127059751785513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999873844469504, + 0.003192288731393169, + 0.015559705602278637, + -0.0038611150079481387 + ], + [ + -0.003279877329731537, + 0.9999789021499518, + 0.005606929612476942, + 0.010182739645138033 + ], + [ + -0.01554147838772342, + -0.005657256192959437, + 0.9998632195965063, + -7.6124782082892e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998584658989227, + 0.0025169068975906803, + 0.016634703181065077, + -0.004089555386281306 + ], + [ + -0.0026627903447691338, + 0.9999581419903295, + 0.008753503003267007, + 0.010560812165793711 + ], + [ + -0.016611975133411453, + -0.008796558811106803, + 0.9998233158089733, + 0.00024463119823338574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998509349928771, + 0.0019236445103858, + 0.01715830369435109, + -0.004120059979598338 + ], + [ + -0.0021259815351910953, + 0.9999283305622116, + 0.01178193284571177, + 0.010904863375211656 + ], + [ + -0.017134409717931523, + -0.01181665480863759, + 0.9997833658712032, + 0.0007925393450067999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998451944231923, + 0.0012102485261519986, + 0.017553418110258383, + -0.004196443569472994 + ], + [ + -0.001473627626311063, + 0.9998864187287398, + 0.014999268763309774, + 0.011285186860053139 + ], + [ + -0.01753327152780031, + -0.015022813994720644, + 0.9997334141906092, + 0.001812145372426331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998355389199024, + 0.0005316651052083815, + 0.018127670698811254, + -0.004444535021284782 + ], + [ + -0.0008358143634266282, + 0.9998589449646856, + 0.01677473065226234, + 0.012246155359784822 + ], + [ + -0.018116195160643587, + -0.016787123229486455, + 0.9996949514559829, + 0.0028264254946077537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998260126761451, + -1.9716188501824175e-05, + 0.018653256750307514, + -0.004663143240504443 + ], + [ + -0.00030439940797589624, + 0.9998490348505102, + 0.017372819273323774, + 0.013455010684945297 + ], + [ + -0.018650783284393336, + -0.01737547466330221, + 0.9996750677910816, + 0.0033777512245398763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998140323318156, + -0.000584891337823678, + 0.019275856777799753, + -0.004879140706645623 + ], + [ + 0.0002374366095871881, + 0.999837548932954, + 0.01802274583961894, + 0.014614856424877138 + ], + [ + -0.019283266742223363, + -0.018014817397520654, + 0.9996517503500318, + 0.0037650201424289727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998071971987831, + -0.001578117975658894, + 0.019572377810802618, + -0.005009856922368674 + ], + [ + 0.0012026256893120178, + 0.9998152898209071, + 0.01918176039333676, + 0.015557992136987945 + ], + [ + -0.019599033674273413, + -0.01915452385184446, + 0.9996244205175483, + 0.003953097797871938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998036833217174, + -0.00184504365375339, + 0.01972791499988281, + -0.005076718683920509 + ], + [ + 0.0014486879516222744, + 0.9997971951692566, + 0.020086558563035477, + 0.016695747531476006 + ], + [ + -0.019760974660822817, + -0.020054035643809295, + 0.9996035911974561, + 0.004213295148898759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998059652319623, + -0.002693917685676335, + 0.01951344905667038, + -0.005081042287920394 + ], + [ + 0.0022970445596924858, + 0.9997906370753029, + 0.020332378189747567, + 0.017940100316386796 + ], + [ + -0.019564137417102168, + -0.020283609739465403, + 0.9996028309799158, + 0.0040265013079233926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998340655098055, + -0.004921425299039422, + 0.017539128232612205, + -0.004879738202458217 + ], + [ + 0.00455750677632972, + 0.9997747462983271, + 0.020728863840054464, + 0.018910725489162766 + ], + [ + -0.01763719303397648, + -0.020645489510829805, + 0.9996312786146402, + 0.004148064576257717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998595422400669, + -0.007266344076606945, + 0.015102848580460891, + -0.004190523623597014 + ], + [ + 0.006954982129858356, + 0.9997642778187875, + 0.020567377592967027, + 0.020230369705513535 + ], + [ + -0.015248738146394976, + -0.020459448703195555, + 0.9996743904610661, + 0.004514519184122871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99987443608058, + -0.012282638502696046, + 0.010012435465684647, + -0.003595678895955348 + ], + [ + 0.012078910087725148, + 0.9997237952592015, + 0.02016018659712529, + 0.02128110132320542 + ], + [ + -0.010257290267661475, + -0.020036715897330762, + 0.9997466269072454, + 0.004864352769323605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997761041026628, + -0.021150597655386506, + 0.0006276018815514476, + -0.0023657045514648505 + ], + [ + 0.02113540475697324, + 0.9996060016042722, + 0.0184698733747399, + 0.02270208135665521 + ], + [ + -0.0010180034679120199, + -0.018452473426074128, + 0.9998292203638577, + 0.00514019435613901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994886910101493, + -0.030411553977873124, + -0.009873901329722915, + -0.000971130812271297 + ], + [ + 0.03056576751965475, + 0.9994068851578763, + 0.015862274583602627, + 0.023070576795515843 + ], + [ + 0.009385648552583515, + -0.016155967432564873, + 0.9998254319217755, + 0.0067043660240034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9988076376054958, + -0.042002397642602385, + -0.024881753418944677, + -0.0001547256375484501 + ], + [ + 0.04228832853711073, + 0.9990440211973026, + 0.011078852804367316, + 0.02078904707219984 + ], + [ + 0.02439262860918933, + -0.012117850560068852, + 0.9996290098668296, + 0.013060995986492858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.997795059994867, + -0.05283553298986708, + -0.040167458265572845, + 0.0007127585592776092 + ], + [ + 0.05307690302448548, + 0.99857808030303, + 0.004965873905451994, + 0.01777948668430825 + ], + [ + 0.03984796877093277, + -0.007086888738519294, + 0.999180622006271, + 0.020367186851657258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.996771160990387, + -0.061119295029369386, + -0.0520738359734411, + 0.001947693304549563 + ], + [ + 0.06116766169204135, + 0.9981272833519269, + -0.0006658765876938698, + 0.015964582510406417 + ], + [ + 0.052017014341501015, + -0.002521508202438362, + 0.9986430154040937, + 0.025215317336603656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.99527087117381, + -0.07101708647423394, + -0.06627568499560434, + 0.003154329558972443 + ], + [ + 0.0706292048739888, + 0.9974690958504067, + -0.008180357097356098, + 0.01331049805096261 + ], + [ + 0.06668889271680488, + 0.0034606722010799788, + 0.9977678163461293, + 0.03140249637935597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9935092951421057, + -0.0810767141349154, + -0.07978625753424934, + 0.0035656137196780776 + ], + [ + 0.0800680557319596, + 0.9966647015456945, + -0.01576639287013877, + 0.010827119161555893 + ], + [ + 0.08079843388049154, + 0.009275727352448335, + 0.9966872999915987, + 0.03792741685700667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.991316141295645, + -0.09212127357668652, + -0.0938401777562379, + 0.003942220984375492 + ], + [ + 0.09030636441049124, + 0.9956387182401641, + -0.023415876836945248, + 0.008207515797521943 + ], + [ + 0.09558801469678407, + 0.014738171382254538, + 0.995311869591956, + 0.044538828955975114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9891914207329556, + -0.10162506140304763, + -0.10570089897036777, + 0.0040851257651890365 + ], + [ + 0.09904950137260567, + 0.9946495501197629, + -0.029350787457783762, + 0.005814029988750781 + ], + [ + 0.10811812718575586, + 0.018563925807345037, + 0.9939647132732955, + 0.04993380792376752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9859625503860683, + -0.11498155735160243, + -0.1210664722588384, + 0.004095853733179448 + ], + [ + 0.11128709068831405, + 0.9931041067894674, + -0.036870266123603654, + 0.003245559748275395 + ], + [ + 0.12447101141362552, + 0.0228795661430577, + 0.9919594209294927, + 0.05618412295926741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9822249293180998, + -0.12848535987641674, + -0.13684188146719478, + 0.00348753771747614 + ], + [ + 0.12344936102633268, + 0.9913432148560972, + -0.04470889867764695, + -0.00021570900386660985 + ], + [ + 0.14140170963692156, + 0.027021152014775507, + 0.9895834547199899, + 0.06405081523423772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9791383610064999, + -0.13818902900052513, + -0.1489693333186295, + 0.0016630054641578245 + ], + [ + 0.13197310474727106, + 0.9899465372109012, + -0.050881755939741855, + -0.004001781353867265 + ], + [ + 0.15450297611654845, + 0.030160333685780957, + 0.987531865127952, + 0.0719389575891778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9753804545986663, + -0.15021002553291937, + -0.16146181287319528, + 0.0013387078612991689 + ], + [ + 0.1426561005967429, + 0.9881025410467276, + -0.05746829856131078, + -0.006201487576895835 + ], + [ + 0.1681731421762434, + 0.033019942555972154, + 0.985204282189318, + 0.07640588976259391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9721673017673382, + -0.15929938564002424, + -0.1717976807443111, + -0.00031361872158790563 + ], + [ + 0.1506469139876593, + 0.9866186784974046, + -0.06236257327941194, + -0.009135452624808818 + ], + [ + 0.1794331203552125, + 0.03474606416194623, + 0.9831563793948783, + 0.08218689410770284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9697238446386601, + -0.16614693528949606, + -0.17897167662265584, + -0.0017400425823622346 + ], + [ + 0.1567590989373895, + 0.9854639343664066, + -0.06547838546742774, + -0.010405413655682094 + ], + [ + 0.187249165657832, + 0.035440512933524786, + 0.9816729190537218, + 0.08621070016214308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9664522982296577, + -0.17575732565956864, + -0.1872947349062684, + -0.0025134615432338336 + ], + [ + 0.16547561388401077, + 0.9837753389714949, + -0.06931019868122015, + -0.010849555155825544 + ], + [ + 0.19643771648113512, + 0.035992289570361574, + 0.9798554886487908, + 0.08876364993047908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9632353987128294, + -0.18396883550798412, + -0.1957882382278699, + -0.0037982695199213316 + ], + [ + 0.1728924354588701, + 0.9822772053314107, + -0.07238575583230533, + -0.012406272092858883 + ], + [ + 0.20563504669106697, + 0.03587421703884227, + 0.9779709955434327, + 0.09268832011345128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9602615901047916, + -0.19131759207670343, + -0.20321234591281484, + -0.004825516477001884 + ], + [ + 0.1796612730081267, + 0.9809024215104941, + -0.07451353203243358, + -0.013148419662858131 + ], + [ + 0.21358723171228372, + 0.03504309399612489, + 0.9762952811586575, + 0.09539025609984282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9562019238916903, + -0.20089149910806417, + -0.21288608768997738, + -0.006506710597076004 + ], + [ + 0.18856492568147962, + 0.9790436340278948, + -0.07692094300118635, + -0.014702658017926827 + ], + [ + 0.2238775324782908, + 0.03340910438141591, + 0.9740444970307381, + 0.09895751675401644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.952222692151838, + -0.20945688975158785, + -0.22226055854941357, + -0.009005375824379805 + ], + [ + 0.19660025112033677, + 0.9773176754721967, + -0.0787305688347453, + -0.017084579870207305 + ], + [ + 0.23370983250716398, + 0.03127255258550575, + 0.9718033451497583, + 0.10363156634673937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.948787573879873, + -0.21646183637592056, + -0.23010087579995986, + -0.010911610855393826 + ], + [ + 0.20322604054816082, + 0.9758549848945628, + -0.08003889616648857, + -0.01845146032669346 + ], + [ + 0.24187045312369526, + 0.0291774201943358, + 0.9698697655131545, + 0.10654329222663335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9466289092532629, + -0.22095672677516953, + -0.2346738866145543, + -0.01202737481927317 + ], + [ + 0.20748339521962722, + 0.9748833091974171, + -0.08095167790990689, + -0.01817398099258776 + ], + [ + 0.24666647294294697, + 0.027940263797903066, + 0.9686975755026901, + 0.10739520170902833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9445980262912909, + -0.22509516371463845, + -0.23888645001104125, + -0.013277407502259175 + ], + [ + 0.2113939209282486, + 0.9739676588439504, + -0.08185114367322868, + -0.0175868597772815 + ], + [ + 0.2510919730321521, + 0.026817285438952627, + 0.9675916774551684, + 0.1081281510846286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9425077292268209, + -0.2290334565581169, + -0.24335746572633205, + -0.01412818911878138 + ], + [ + 0.2152550969553127, + 0.9730963362500346, + -0.0821508588605049, + -0.01658719283433973 + ], + [ + 0.2556255534614265, + 0.025043884558926737, + 0.9664514370953868, + 0.10790591741912338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9399725971532743, + -0.2339678856092402, + -0.24841607255664858, + -0.014796007275703337 + ], + [ + 0.2202332572797664, + 0.9719843796196711, + -0.08211990114039125, + -0.015295572112950712 + ], + [ + 0.2606699618077864, + 0.022480975933106197, + 0.965166191250099, + 0.10702264707096704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9348481011783107, + -0.24356193449717295, + -0.25833430238220845, + -0.016371941415787034 + ], + [ + 0.22988362381691518, + 0.9697251534189756, + -0.08238110418869002, + -0.014924852848656231 + ], + [ + 0.2705781721131816, + 0.01762699323593262, + 0.9625366184646433, + 0.1075405082274748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9278473274022462, + -0.2556313057958343, + -0.2715731439771356, + -0.018086261027044945 + ], + [ + 0.242361961035821, + 0.9667205717376633, + -0.08192689437588065, + -0.015226206746618086 + ], + [ + 0.28347842400327505, + 0.010196650250065026, + 0.9589244034063882, + 0.10781880024745333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9214325691485451, + -0.26538962952897754, + -0.28377872550771605, + -0.02080009107990215 + ], + [ + 0.25302642800805847, + 0.9641391991747592, + -0.08008265320365546, + -0.015601402905450285 + ], + [ + 0.2948552988192588, + 0.00198724762577953, + 0.9555398493025183, + 0.10989754268171413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9112857823062217, + -0.2797078196642469, + -0.30219490165323887, + -0.026578423435236993 + ], + [ + 0.26887048073696124, + 0.9600293169302669, + -0.07779701294188823, + -0.016882061514566747 + ], + [ + 0.3118763978803349, + -0.01035597668392918, + 0.9500662430547193, + 0.11343980928501042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8977832943049463, + -0.29831311839848124, + -0.3240284553219549, + -0.0334554597861131 + ], + [ + 0.28902439278067044, + 0.9541677096922102, + -0.07764587663544706, + -0.01731613176105519 + ], + [ + 0.33234027267955835, + -0.023942956628119485, + 0.9428555976305073, + 0.11907964768056688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.886283463507395, + -0.31357745397606357, + -0.34083838203938505, + -0.040271078126805526 + ], + [ + 0.30486286557800496, + 0.9489998802630685, + -0.08036081415869875, + -0.017587153575836588 + ], + [ + 0.34865492324776276, + -0.0326865051446521, + 0.9366810219474532, + 0.12307054075088832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8716423020934982, + -0.3322795673675914, + -0.36031928384580475, + -0.050605085942671914 + ], + [ + 0.3240824357490039, + 0.9422109349421066, + -0.0849065893468503, + -0.016414002091453016 + ], + [ + 0.36770949408485504, + -0.042764976154889216, + 0.9289568799327191, + 0.12929025167691854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8563602831471276, + -0.34989451610223005, + -0.37976425983728096, + -0.05978563327003569 + ], + [ + 0.34252778932071276, + 0.9352540642354017, + -0.08930032964232969, + -0.015622241047540564 + ], + [ + 0.38642176309213866, + -0.05360655680744332, + 0.9207630303590678, + 0.1326786355360486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.843124802554053, + -0.3638646836988552, + -0.3959078924130226, + -0.068711938352522 + ], + [ + 0.35774660944827513, + 0.9292568953029542, + -0.0921899450058305, + -0.014897402819789192 + ], + [ + 0.40144480410942274, + -0.06390707698406148, + 0.9136508932655298, + 0.13584858512276157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8251095326023672, + -0.3817554750412442, + -0.41648171206517287, + -0.0805959939799635 + ], + [ + 0.377513404159728, + 0.9209846820985771, + -0.0962852274210175, + -0.01427758694741927 + ], + [ + 0.420330689919779, + -0.07778156989812668, + 0.9040310495197307, + 0.1391961505359499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8072757088999797, + -0.39827655017753044, + -0.4355246484399258, + -0.09152242806507323 + ], + [ + 0.39573163478044476, + 0.9127740608167342, + -0.10119282155432793, + -0.013950664017874467 + ], + [ + 0.43783832981367965, + -0.09066037435845106, + 0.8944709573078119, + 0.14102030176561992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7956734913691051, + -0.4081685100240795, + -0.44755129600663857, + -0.10034322068875548 + ], + [ + 0.40688302668301946, + 0.9075086716664157, + -0.10427949677440629, + -0.012700200902632588 + ], + [ + 0.44872028896603755, + -0.09912859463838386, + 0.8881574319878515, + 0.14268569595628103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7859411963077104, + -0.4156780262648139, + -0.4577206729294559, + -0.11036926556874341 + ], + [ + 0.41586072895259335, + 0.9032082860873647, + -0.10618213624778523, + -0.01044089473948201 + ], + [ + 0.45755468532342997, + -0.10689513751202247, + 0.8827327678946008, + 0.14477880452953645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7795561924626204, + -0.4200444064365135, + -0.46460180737334505, + -0.11775125968064468 + ], + [ + 0.42144923185291167, + 0.9005170217982142, + -0.10700298324002593, + -0.008677262876823702 + ], + [ + 0.4633278404799052, + -0.11239123663823451, + 0.8790310131975753, + 0.14484771145241798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7738018373857269, + -0.4228806008137534, + -0.4715959222829139, + -0.12543485856049902 + ], + [ + 0.42604754716565846, + 0.8984060800694189, + -0.10653639213164283, + -0.006375230310324789 + ], + [ + 0.4687368174280737, + -0.11848422996205042, + 0.8753555181968643, + 0.1440408561778507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7688729558006545, + -0.42451843937150885, + -0.47814064089130043, + -0.13282088765114455 + ], + [ + 0.4297995774243791, + 0.8967891859432676, + -0.1050784431795439, + -0.0033466839243543045 + ], + [ + 0.47339909282146925, + -0.12471267220611565, + 0.8719747979769943, + 0.14351590969628847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7610655471466828, + -0.4281960643251502, + -0.48726518800625607, + -0.14270747007678916 + ], + [ + 0.4361682204281051, + 0.8938116262373395, + -0.10420201673452663, + -0.0005668067412330086 + ], + [ + 0.48014218356118243, + -0.13322502504940445, + 0.8670147497394063, + 0.14260948154003747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7526668585415099, + -0.4320242935911034, + -0.49683760908405755, + -0.15412362264453033 + ], + [ + 0.44283191809004574, + 0.890602769113071, + -0.10356930032022457, + 0.0011381310807808132 + ], + [ + 0.487229404258349, + -0.1420623714965999, + 0.8616413350291502, + 0.1428229752173388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7440776943066071, + -0.4365396907099774, + -0.5057484387224551, + -0.16380247504964915 + ], + [ + 0.4492421338142692, + 0.8872329632994977, + -0.10487694713708418, + 0.0025850789782185662 + ], + [ + 0.4944996360376476, + -0.14916691077323335, + 0.85628227979388, + 0.1419198166824718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7357568225525444, + -0.4424278772966816, + -0.5127567371162828, + -0.17307984252417677 + ], + [ + 0.4558320710830375, + 0.8834630666629193, + -0.1082133670795778, + 0.0007455435241491976 + ], + [ + 0.5008782497169676, + -0.1541122423213135, + 0.8516867943834543, + 0.139695617335835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7287810546445317, + -0.4464437538761249, + -0.5191976011271608, + -0.18399237548170913 + ], + [ + 0.46160067655293235, + 0.8803580936750973, + -0.10906164452557993, + -0.0014103740193244646 + ], + [ + 0.5057697003548942, + -0.16017990362633783, + 0.8476670388054368, + 0.14036323511662915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7240250413983912, + -0.44868052263438135, + -0.5239022122845031, + -0.19204704276935866 + ], + [ + 0.46488961938366574, + 0.878519807710429, + -0.109911733903808, + -0.0017886117691203046 + ], + [ + 0.5095737250068616, + -0.16397785237332954, + 0.8446572575392117, + 0.1400510602839141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7190981915783641, + -0.45125517856554276, + -0.5284567670931148, + -0.20175984271537573 + ], + [ + 0.468683214180899, + 0.8764130157587962, + -0.1106176774011898, + -0.0034147097446991237 + ], + [ + 0.5130631887143999, + -0.1681338443810533, + 0.8417227422137648, + 0.14140425948543534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7181512236582552, + -0.4512947936150864, + -0.5297091930616906, + -0.20908970133133822 + ], + [ + 0.4693066211657355, + 0.8761348316844892, + -0.11017736627453421, + -0.004730408186421259 + ], + [ + 0.5138191464787505, + -0.16947202118670976, + 0.8409929362050195, + 0.14257134682673153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7180692211475694, + -0.45110379206589046, + -0.5299829831459659, + -0.21519117388593864 + ], + [ + 0.46938716257148805, + 0.8761422543685302, + -0.10977450397572983, + -0.005600972777030866 + ], + [ + 0.5138601806460692, + -0.16994151609834465, + 0.8408731151919329, + 0.14286901559719656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7181925184518454, + -0.45066650598199676, + -0.5301878976606071, + -0.22223836931142796 + ], + [ + 0.4693047836378571, + 0.8762682607745089, + -0.10911899565997325, + -0.007209180828968681 + ], + [ + 0.5137631034770984, + -0.17045127029504936, + 0.840829256127773, + 0.14341590452586553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7185037473052716, + -0.45048724547352187, + -0.5299184906888622, + -0.2292595560786772 + ], + [ + 0.4690680098748568, + 0.8764049084806627, + -0.10903961896046264, + -0.007899233483739485 + ], + [ + 0.5135441239273643, + -0.170222436995481, + 0.8410093666083606, + 0.14433485990369258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7188725729001404, + -0.45068204941489404, + -0.5292522217876117, + -0.2370331663348245 + ], + [ + 0.46894070981124086, + 0.8764320398794716, + -0.10936859766147604, + -0.007627825083993595 + ], + [ + 0.5131440680877661, + -0.16956582735887338, + 0.8413861156320793, + 0.1458532628967462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7193262768901889, + -0.45058950815681653, + -0.5287142919519932, + -0.24380917603284943 + ], + [ + 0.46877428067115856, + 0.876537101508872, + -0.10924002682013283, + -0.007563703650396908 + ], + [ + 0.5126601029498368, + -0.169268440110446, + 0.8417409423486772, + 0.14745245231894533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7199518857276481, + -0.4502679271619606, + -0.5281364179892111, + -0.25138068566305855 + ], + [ + 0.46837909232547115, + 0.8767765421979881, + -0.10901339790919, + -0.008167731447361853 + ], + [ + 0.5121428590828648, + -0.16888365468751254, + 0.8421330079445989, + 0.14915135637260116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7203700838281498, + -0.45037072139952533, + -0.5274781091490868, + -0.2576145543620211 + ], + [ + 0.4682041001466581, + 0.8768413865657363, + -0.10924332204457873, + -0.008349536662336954 + ], + [ + 0.5117146303666555, + -0.1682717923822901, + 0.8425157214896164, + 0.14963872819605503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7207472766833041, + -0.4503636084093726, + -0.5269686739969368, + -0.26269669496264747 + ], + [ + 0.4681384631459433, + 0.8768901203232577, + -0.10913338720490932, + -0.008288942321716258 + ], + [ + 0.5112433300073018, + -0.16803671354781877, + 0.842848693671108, + 0.14954235197790272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7214195832543737, + -0.44937514800253975, + -0.5268925519067253, + -0.26813033592603885 + ], + [ + 0.4672504182905588, + 0.8774317262404038, + -0.10858458635590451, + -0.008795724973516467 + ], + [ + 0.5111074559272089, + -0.1678557182358722, + 0.8429671561520863, + 0.14946244169794357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7213357027280806, + -0.44959687797640246, + -0.5268182336286954, + -0.27396338601544806 + ], + [ + 0.46733347454994756, + 0.8773530267701726, + -0.1088627116247382, + -0.009047828445369749 + ], + [ + 0.5111499071063793, + -0.1676732349872493, + 0.8429777332373916, + 0.1494475145858822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7208461768115619, + -0.4501296885996668, + -0.5270332558931378, + -0.279517909745659 + ], + [ + 0.4679599735865651, + 0.8770039265155232, + -0.10898429243343408, + -0.009116319388392732 + ], + [ + 0.5112673004378591, + -0.16806955797383996, + 0.8428276046650717, + 0.15005534679916002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7204113265654337, + -0.4505628776263212, + -0.5272576351854195, + -0.28683036685002616 + ], + [ + 0.46851028624410695, + 0.8767036488031111, + -0.10903588335395058, + -0.009898283951260356 + ], + [ + 0.5113762139948408, + -0.1684749402148584, + 0.8426805814066816, + 0.1509910042667591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_117/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_117/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b5153597947b78dbcf4b9cbab6d50748aff74d3b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_117/boom_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999997229208935, + -0.0007330710859179825, + 0.0001294794173563813, + -0.0015558756909925388 + ], + [ + 0.0007330206689579367, + 0.99999965567931, + 0.0003890012346679387, + -0.001001352181314828 + ], + [ + -0.00012976453833146042, + -0.0003889062157946972, + 0.9999999159565566, + 0.0017701852795493284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999992118486265, + 0.00033194381898673007, + 0.003956359267455808, + -0.00206275279180308 + ], + [ + -0.00033448113841842985, + 0.9999997388241555, + 0.0006406824401845768, + -0.0011371157483824877 + ], + [ + -0.003956145563574382, + -0.0006420007181888955, + 0.9999919683414252, + 0.0007791305728177801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999790825486045, + 0.0011459686378637057, + 0.006365628101955338, + -0.0025175859449661723 + ], + [ + -0.0011518700222691875, + 0.99999891018819, + 0.0009234813935528162, + -0.0016827035175805511 + ], + [ + -0.006364562883903992, + -0.0009307944528592086, + 0.999979312766511, + 0.00032865561261786856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999574545432407, + 0.0017329979488223321, + 0.00906012259920048, + -0.0028223810152501654 + ], + [ + -0.0017447123501058675, + 0.9999976520928671, + 0.0012852188798151047, + -0.0023194676727275386 + ], + [ + -0.009057874045191495, + -0.0013009715073831253, + 0.9999581303189243, + 1.1750161011470688e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999337715300227, + 0.0026290501413887015, + 0.011204492362382542, + -0.0029452276176279895 + ], + [ + -0.002650883969407072, + 0.9999946157085787, + 0.0019342616247277297, + -0.00336876321696869 + ], + [ + -0.01119934676333246, + -0.001963835330728572, + 0.9999353569020693, + -0.0001222300786011283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999148208030056, + 0.0031603233482587643, + 0.012663470883910684, + -0.0032485102794542263 + ], + [ + -0.003191967589574363, + 0.9999918318561445, + 0.002479428139651453, + -0.00422510642180492 + ], + [ + -0.012655531652218721, + -0.002519638332586474, + 0.9999167410046063, + -0.0002517627401640866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998922621314933, + 0.0034975366694537744, + 0.01425592391994458, + -0.003574091595408192 + ], + [ + -0.0035504988828481123, + 0.9999868833525221, + 0.003691487585345043, + -0.005545959812962046 + ], + [ + -0.01424282581682147, + -0.0037417055142927092, + 0.9998915648972124, + -0.00017514501480346448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999873844469504, + 0.003192288731393169, + 0.015559705602278637, + -0.0039169800607475195 + ], + [ + -0.003279877329731537, + 0.9999789021499518, + 0.005606929612476942, + -0.007316891142486126 + ], + [ + -0.01554147838772342, + -0.005657256192959437, + 0.9998632195965063, + 2.2877201293898147e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998584658989227, + 0.0025169068975906803, + 0.016634703181065077, + -0.00413989352423312 + ], + [ + -0.0026627903447691338, + 0.9999581419903295, + 0.008753503003267007, + -0.009438350674012882 + ], + [ + -0.016611975133411453, + -0.008796558811106803, + 0.9998233158089733, + 0.00042056237445552185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998509349928771, + 0.0019236445103858, + 0.01715830369435109, + -0.004163341981082018 + ], + [ + -0.0021259815351910953, + 0.9999283305622116, + 0.01178193284571177, + -0.01159352406243811 + ], + [ + -0.017134409717931523, + -0.01181665480863759, + 0.9997833658712032, + 0.0010584140782011458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998451944231923, + 0.0012102485261519986, + 0.017553418110258383, + -0.004226699782626794 + ], + [ + -0.001473627626311063, + 0.9998864187287398, + 0.014999268763309774, + -0.013711973608165357 + ], + [ + -0.01753327152780031, + -0.015022813994720644, + 0.9997334141906092, + 0.002187715722294347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998355389199024, + 0.0005316651052083815, + 0.018127670698811254, + -0.004459155811678012 + ], + [ + -0.0008358143634266282, + 0.9998589449646856, + 0.01677473065226234, + -0.015249965626744036 + ], + [ + -0.018116195160643587, + -0.016787123229486455, + 0.9996949514559829, + 0.003288071383418631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998260126761451, + -1.9716188501824175e-05, + 0.018653256750307514, + -0.004662551754849388 + ], + [ + -0.00030439940797589624, + 0.9998490348505102, + 0.017372819273323774, + -0.016540460360570015 + ], + [ + -0.018650783284393336, + -0.01737547466330221, + 0.9996750677910816, + 0.0038990154644389426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998140323318156, + -0.000584891337823678, + 0.019275856777799753, + -0.004860131738166353 + ], + [ + 0.0002374366095871881, + 0.999837548932954, + 0.01802274583961894, + -0.01787986391544387 + ], + [ + -0.019283266742223363, + -0.018014817397520654, + 0.9996517503500318, + 0.004350501707848394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998071971987831, + -0.001578117975658894, + 0.019572377810802618, + -0.004954622793220612 + ], + [ + 0.0012026256893120178, + 0.9998152898209071, + 0.01918176039333676, + -0.019435543006743803 + ], + [ + -0.019599033674273413, + -0.01915452385184446, + 0.9996244205175483, + 0.004623506132686493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998036833217174, + -0.00184504365375339, + 0.01972791499988281, + -0.005007529546904757 + ], + [ + 0.0014486879516222744, + 0.9997971951692566, + 0.020086558563035477, + -0.02079664728737112 + ], + [ + -0.019760974660822817, + -0.020054035643809295, + 0.9996035911974561, + 0.004965321485541608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998059652319623, + -0.002693917685676335, + 0.01951344905667038, + -0.004973285580493341 + ], + [ + 0.0022970445596924858, + 0.9997906370753029, + 0.020332378189747567, + -0.02205152516662533 + ], + [ + -0.019564137417102168, + -0.020283609739465403, + 0.9996028309799158, + 0.004837845697502009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998340655098055, + -0.004921425299039422, + 0.017539128232612205, + -0.004670577627249041 + ], + [ + 0.00455750677632972, + 0.9997747462983271, + 0.020728863840054464, + -0.02357970122851615 + ], + [ + -0.01763719303397648, + -0.020645489510829805, + 0.9996312786146402, + 0.0050254978804679835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998595422400669, + -0.007266344076606945, + 0.015102848580460891, + -0.003863538140149702 + ], + [ + 0.006954982129858356, + 0.9997642778187875, + 0.020567377592967027, + -0.02475902279633191 + ], + [ + -0.015248738146394976, + -0.020459448703195555, + 0.9996743904610661, + 0.005435194375766672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99987443608058, + -0.012282638502696046, + 0.010012435465684647, + -0.0030122535670772856 + ], + [ + 0.012078910087725148, + 0.9997237952592015, + 0.02016018659712529, + -0.026205778951606657 + ], + [ + -0.010257290267661475, + -0.020036715897330762, + 0.9997466269072454, + 0.005816096774446817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997761041026628, + -0.021150597655386506, + 0.0006276018815514476, + -0.0013081746686955252 + ], + [ + 0.02113540475697324, + 0.9996060016042722, + 0.0184698733747399, + -0.0272782187235584 + ], + [ + -0.0010180034679120199, + -0.018452473426074128, + 0.9998292203638577, + 0.006062818027442716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994886910101493, + -0.030411553977873124, + -0.009873901329722915, + 0.0006254757715670421 + ], + [ + 0.03056576751965475, + 0.9994068851578763, + 0.015862274583602627, + -0.029398284675272668 + ], + [ + 0.009385648552583515, + -0.016155967432564873, + 0.9998254319217755, + 0.007552554314213056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9988076376054958, + -0.042002397642602385, + -0.024881753418944677, + 0.0021554062327946814 + ], + [ + 0.04228832853711073, + 0.9990440211973026, + 0.011078852804367316, + -0.03415837409365181 + ], + [ + 0.02439262860918933, + -0.012117850560068852, + 0.9996290098668296, + 0.013727477767296645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.997795059994867, + -0.05283553298986708, + -0.040167458265572845, + 0.003750801706194967 + ], + [ + 0.05307690302448548, + 0.99857808030303, + 0.004965873905451994, + -0.03963875293311599 + ], + [ + 0.03984796877093277, + -0.007086888738519294, + 0.999180622006271, + 0.020774682954122114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.996771160990387, + -0.061119295029369386, + -0.0520738359734411, + 0.005614851006311727 + ], + [ + 0.06116766169204135, + 0.9981272833519269, + -0.0006658765876938698, + -0.04392305449070921 + ], + [ + 0.052017014341501015, + -0.002521508202438362, + 0.9986430154040937, + 0.025366607828749957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.99527087117381, + -0.07101708647423394, + -0.06627568499560434, + 0.007592897463612064 + ], + [ + 0.0706292048739888, + 0.9974690958504067, + -0.008180357097356098, + -0.0490313204396878 + ], + [ + 0.06668889271680488, + 0.0034606722010799788, + 0.9977678163461293, + 0.031186204366788477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9935092951421057, + -0.0810767141349154, + -0.07978625753424934, + 0.008835600138447579 + ], + [ + 0.0800680557319596, + 0.9966647015456945, + -0.01576639287013877, + -0.05395608643891425 + ], + [ + 0.08079843388049154, + 0.009275727352448335, + 0.9966872999915987, + 0.03732449457909753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.991316141295645, + -0.09212127357668652, + -0.0938401777562379, + 0.010160406950801832 + ], + [ + 0.09030636441049124, + 0.9956387182401641, + -0.023415876836945248, + -0.05899809768368914 + ], + [ + 0.09558801469678407, + 0.014738171382254538, + 0.995311869591956, + 0.04354400238767293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9891914207329556, + -0.10162506140304763, + -0.10570089897036777, + 0.011198880063402371 + ], + [ + 0.09904950137260567, + 0.9946495501197629, + -0.029350787457783762, + -0.06381143851963261 + ], + [ + 0.10811812718575586, + 0.018563925807345037, + 0.9939647132732955, + 0.04863433311725336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9859625503860683, + -0.11498155735160243, + -0.1210664722588384, + 0.012432016641170624 + ], + [ + 0.11128709068831405, + 0.9931041067894674, + -0.036870266123603654, + -0.068754487993961 + ], + [ + 0.12447101141362552, + 0.0228795661430577, + 0.9919594209294927, + 0.05452535441389573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9822249293180998, + -0.12848535987641674, + -0.13684188146719478, + 0.013123939708207397 + ], + [ + 0.12344936102633268, + 0.9913432148560972, + -0.04470889867764695, + -0.07456645011807392 + ], + [ + 0.14140170963692156, + 0.027021152014775507, + 0.9895834547199899, + 0.06202422883312956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9791383610064999, + -0.13818902900052513, + -0.1489693333186295, + 0.012372655211698523 + ], + [ + 0.13197310474727106, + 0.9899465372109012, + -0.050881755939741855, + -0.08072263798771212 + ], + [ + 0.15450297611654845, + 0.030160333685780957, + 0.987531865127952, + 0.06960153172852977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9753804545986663, + -0.15021002553291937, + -0.16146181287319528, + 0.013355509903932722 + ], + [ + 0.1426561005967429, + 0.9881025410467276, + -0.05746829856131078, + -0.08524969086063405 + ], + [ + 0.1681731421762434, + 0.033019942555972154, + 0.985204282189318, + 0.07376429435811613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9721673017673382, + -0.15929938564002424, + -0.1717976807443111, + 0.012828580593714098 + ], + [ + 0.1506469139876593, + 0.9866186784974046, + -0.06236257327941194, + -0.09053149360084471 + ], + [ + 0.1794331203552125, + 0.03474606416194623, + 0.9831563793948783, + 0.07932034381434229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9697238446386601, + -0.16614693528949606, + -0.17897167662265584, + 0.012382446917244935 + ], + [ + 0.1567590989373895, + 0.9854639343664066, + -0.06547838546742774, + -0.09416984807682667 + ], + [ + 0.187249165657832, + 0.035440512933524786, + 0.9816729190537218, + 0.08319825656279348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9664522982296577, + -0.17575732565956864, + -0.1872947349062684, + 0.012865304451978424 + ], + [ + 0.16547561388401077, + 0.9837753389714949, + -0.06931019868122015, + -0.09692989731583136 + ], + [ + 0.19643771648113512, + 0.035992289570361574, + 0.9798554886487908, + 0.08561432459307244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9632353987128294, + -0.18396883550798412, + -0.1957882382278699, + 0.012758925675797242 + ], + [ + 0.1728924354588701, + 0.9822772053314107, + -0.07238575583230533, + -0.10081122057268586 + ], + [ + 0.20563504669106697, + 0.03587421703884227, + 0.9779709955434327, + 0.08945964057995547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9602615901047916, + -0.19131759207670343, + -0.20321234591281484, + 0.012871360790093184 + ], + [ + 0.1796612730081267, + 0.9809024215104941, + -0.07451353203243358, + -0.10388189365257885 + ], + [ + 0.21358723171228372, + 0.03504309399612489, + 0.9762952811586575, + 0.09214876990520128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9562019238916903, + -0.20089149910806417, + -0.21288608768997738, + 0.012577981818190096 + ], + [ + 0.18856492568147962, + 0.9790436340278948, + -0.07692094300118635, + -0.10771180325057686 + ], + [ + 0.2238775324782908, + 0.03340910438141591, + 0.9740444970307381, + 0.09578365183778194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.952222692151838, + -0.20945688975158785, + -0.22226055854941357, + 0.011416670926400014 + ], + [ + 0.19660025112033677, + 0.9773176754721967, + -0.0787305688347453, + -0.1123730532287465 + ], + [ + 0.23370983250716398, + 0.03127255258550575, + 0.9718033451497583, + 0.10058249246965256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.948787573879873, + -0.21646183637592056, + -0.23010087579995986, + 0.010734572782198233 + ], + [ + 0.20322604054816082, + 0.9758549848945628, + -0.08003889616648857, + -0.11603695881614975 + ], + [ + 0.24187045312369526, + 0.0291774201943358, + 0.9698697655131545, + 0.10362555020719978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9466289092532629, + -0.22095672677516953, + -0.2346738866145543, + 0.010620689675181712 + ], + [ + 0.20748339521962722, + 0.9748833091974171, + -0.08095167790990689, + -0.11809952018532302 + ], + [ + 0.24666647294294697, + 0.027940263797903066, + 0.9686975755026901, + 0.10453132466974327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9445980262912909, + -0.22509516371463845, + -0.23888645001104125, + 0.010357584687777864 + ], + [ + 0.2113939209282486, + 0.9739676588439504, + -0.08185114367322868, + -0.1198534639558963 + ], + [ + 0.2510919730321521, + 0.026817285438952627, + 0.9675916774551684, + 0.10531233611353859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9425077292268209, + -0.2290334565581169, + -0.24335746572633205, + 0.010492907461216186 + ], + [ + 0.2152550969553127, + 0.9730963362500346, + -0.0821508588605049, + -0.12119504898121844 + ], + [ + 0.2556255534614265, + 0.025043884558926737, + 0.9664514370953868, + 0.10521369982903876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9399725971532743, + -0.2339678856092402, + -0.24841607255664858, + 0.010940460141313087 + ], + [ + 0.2202332572797664, + 0.9719843796196711, + -0.08211990114039125, + -0.12221385387111455 + ], + [ + 0.2606699618077864, + 0.022480975933106197, + 0.965166191250099, + 0.10454973971832535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9348481011783107, + -0.24356193449717295, + -0.25833430238220845, + 0.011028776215144922 + ], + [ + 0.22988362381691518, + 0.9697251534189756, + -0.08238110418869002, + -0.12401893260829099 + ], + [ + 0.2705781721131816, + 0.01762699323593262, + 0.9625366184646433, + 0.10555747148843236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9278473274022462, + -0.2556313057958343, + -0.2715731439771356, + 0.011311339139476007 + ], + [ + 0.242361961035821, + 0.9667205717376633, + -0.08192689437588065, + -0.12639907249644938 + ], + [ + 0.28347842400327505, + 0.010196650250065026, + 0.9589244034063882, + 0.10664618546869584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9214325691485451, + -0.26538962952897754, + -0.28377872550771605, + 0.010383190389752713 + ], + [ + 0.25302642800805847, + 0.9641391991747592, + -0.08008265320365546, + -0.1288877588084845 + ], + [ + 0.2948552988192588, + 0.00198724762577953, + 0.9555398493025183, + 0.10966404108568505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9112857823062217, + -0.2797078196642469, + -0.30219490165323887, + 0.00698651492447264 + ], + [ + 0.26887048073696124, + 0.9600293169302669, + -0.07779701294188823, + -0.1320855795461988 + ], + [ + 0.3118763978803349, + -0.01035597668392918, + 0.9500662430547193, + 0.11468252648708192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8977832943049463, + -0.29831311839848124, + -0.3240284553219549, + 0.0030878972177008565 + ], + [ + 0.28902439278067044, + 0.9541677096922102, + -0.07764587663544706, + -0.13420167619835094 + ], + [ + 0.33234027267955835, + -0.023942956628119485, + 0.9428555976305073, + 0.12201265986751152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.886283463507395, + -0.31357745397606357, + -0.34083838203938505, + -0.0010738963797975835 + ], + [ + 0.30486286557800496, + 0.9489998802630685, + -0.08036081415869875, + -0.13621213860872014 + ], + [ + 0.34865492324776276, + -0.0326865051446521, + 0.9366810219474532, + 0.12715635389396984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8716423020934982, + -0.3322795673675914, + -0.36031928384580475, + -0.008239441103303997 + ], + [ + 0.3240824357490039, + 0.9422109349421066, + -0.0849065893468503, + -0.13654589629657163 + ], + [ + 0.36770949408485504, + -0.042764976154889216, + 0.9289568799327191, + 0.1347427861366669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8563602831471276, + -0.34989451610223005, + -0.37976425983728096, + -0.014299346176745786 + ], + [ + 0.34252778932071276, + 0.9352540642354017, + -0.08930032964232969, + -0.1372052693981428 + ], + [ + 0.38642176309213866, + -0.05360655680744332, + 0.9207630303590678, + 0.13964748792101625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.843124802554053, + -0.3638646836988552, + -0.3959078924130226, + -0.02049986776242367 + ], + [ + 0.35774660944827513, + 0.9292568953029542, + -0.0921899450058305, + -0.13802394144743066 + ], + [ + 0.40144480410942274, + -0.06390707698406148, + 0.9136508932655298, + 0.1443162728231497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8251095326023672, + -0.3817554750412442, + -0.41648171206517287, + -0.02905900484939553 + ], + [ + 0.377513404159728, + 0.9209846820985771, + -0.0962852274210175, + -0.1386105190307272 + ], + [ + 0.420330689919779, + -0.07778156989812668, + 0.9040310495197307, + 0.149696662472197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8072757088999797, + -0.39827655017753044, + -0.4355246484399258, + -0.03675940241566279 + ], + [ + 0.39573163478044476, + 0.9127740608167342, + -0.10119282155432793, + -0.13945709738017542 + ], + [ + 0.43783832981367965, + -0.09066037435845106, + 0.8944709573078119, + 0.1534861032399069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7956734913691051, + -0.4081685100240795, + -0.44755129600663857, + -0.043199629285384344 + ], + [ + 0.40688302668301946, + 0.9075086716664157, + -0.10427949677440629, + -0.1397514149359308 + ], + [ + 0.44872028896603755, + -0.09912859463838386, + 0.8881574319878515, + 0.15656369920565474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7859411963077104, + -0.4156780262648139, + -0.4577206729294559, + -0.05113514682600742 + ], + [ + 0.41586072895259335, + 0.9032082860873647, + -0.10618213624778523, + -0.1391480755069315 + ], + [ + 0.45755468532342997, + -0.10689513751202247, + 0.8827327678946008, + 0.16001136162499968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7795561924626204, + -0.4200444064365135, + -0.46460180737334505, + -0.05684482074735021 + ], + [ + 0.42144923185291167, + 0.9005170217982142, + -0.10700298324002593, + -0.1392522310375648 + ], + [ + 0.4633278404799052, + -0.11239123663823451, + 0.8790310131975753, + 0.16114444076496198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7738018373857269, + -0.4228806008137534, + -0.4715959222829139, + -0.06305996994047038 + ], + [ + 0.42604754716565846, + 0.8984060800694189, + -0.10653639213164283, + -0.1388901271205641 + ], + [ + 0.4687368174280737, + -0.11848422996205042, + 0.8753555181968643, + 0.16151728009725316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7688729558006545, + -0.42451843937150885, + -0.47814064089130043, + -0.0691431217454182 + ], + [ + 0.4297995774243791, + 0.8967891859432676, + -0.1050784431795439, + -0.13786506181584446 + ], + [ + 0.47339909282146925, + -0.12471267220611565, + 0.8719747979769943, + 0.16222281052720583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7610655471466828, + -0.4281960643251502, + -0.48726518800625607, + -0.07740757026720374 + ], + [ + 0.4361682204281051, + 0.8938116262373395, + -0.10420201673452663, + -0.1368730797424273 + ], + [ + 0.48014218356118243, + -0.13322502504940445, + 0.8670147497394063, + 0.16292629786007165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7526668585415099, + -0.4320242935911034, + -0.49683760908405755, + -0.0871598571379093 + ], + [ + 0.44283191809004574, + 0.890602769113071, + -0.10356930032022457, + -0.1369052981317452 + ], + [ + 0.487229404258349, + -0.1420623714965999, + 0.8616413350291502, + 0.1648426427993118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7440776943066071, + -0.4365396907099774, + -0.5057484387224551, + -0.09504747376282771 + ], + [ + 0.4492421338142692, + 0.8872329632994977, + -0.10487694713708418, + -0.13715411274145234 + ], + [ + 0.4944996360376476, + -0.14916691077323335, + 0.85628227979388, + 0.16541360512925604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7357568225525444, + -0.4424278772966816, + -0.5127567371162828, + -0.10229138215670772 + ], + [ + 0.4558320710830375, + 0.8834630666629193, + -0.1082133670795778, + -0.1406085471419179 + ], + [ + 0.5008782497169676, + -0.1541122423213135, + 0.8516867943834543, + 0.16435357610724513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7287810546445317, + -0.4464437538761249, + -0.5191976011271608, + -0.11144526547683883 + ], + [ + 0.46160067655293235, + 0.8803580936750973, + -0.10906164452557993, + -0.14446856424152776 + ], + [ + 0.5057697003548942, + -0.16017990362633783, + 0.8476670388054368, + 0.16639246945590905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7240250413983912, + -0.44868052263438135, + -0.5239022122845031, + -0.11801475653468571 + ], + [ + 0.46488961938366574, + 0.878519807710429, + -0.109911733903808, + -0.1467443800413411 + ], + [ + 0.5095737250068616, + -0.16397785237332954, + 0.8446572575392117, + 0.16710740592551346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7190981915783641, + -0.45125517856554276, + -0.5284567670931148, + -0.1261746003056473 + ], + [ + 0.468683214180899, + 0.8764130157587962, + -0.1106176774011898, + -0.15021388988429749 + ], + [ + 0.5130631887143999, + -0.1681338443810533, + 0.8417227422137648, + 0.16956667841926176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7181512236582552, + -0.4512947936150864, + -0.5297091930616906, + -0.13236958641677352 + ], + [ + 0.4693066211657355, + 0.8761348316844892, + -0.11017736627453421, + -0.15367332957278446 + ], + [ + 0.5138191464787505, + -0.16947202118670976, + 0.8409929362050195, + 0.1713815904284722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7180692211475694, + -0.45110379206589046, + -0.5299829831459659, + -0.13737576975457252 + ], + [ + 0.46938716257148805, + 0.8761422543685302, + -0.10977450397572983, + -0.15673551165560234 + ], + [ + 0.5138601806460692, + -0.16994151609834465, + 0.8408731151919329, + 0.17218392712416103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7181925184518454, + -0.45066650598199676, + -0.5301878976606071, + -0.14337173076457851 + ], + [ + 0.4693047836378571, + 0.8762682607745089, + -0.10911899565997325, + -0.16055612646450776 + ], + [ + 0.5137631034770984, + -0.17045127029504936, + 0.840829256127773, + 0.17324487682749914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7185037473052716, + -0.45048724547352187, + -0.5299184906888622, + -0.14929807000712708 + ], + [ + 0.4690680098748568, + 0.8764049084806627, + -0.10903961896046264, + -0.16346110473905712 + ], + [ + 0.5135441239273643, + -0.170222436995481, + 0.8410093666083606, + 0.17454934247039047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7188725729001404, + -0.45068204941489404, + -0.5292522217876117, + -0.15591039744014354 + ], + [ + 0.46894070981124086, + 0.8764320398794716, + -0.10936859766147604, + -0.16538559226229851 + ], + [ + 0.5131440680877661, + -0.16956582735887338, + 0.8413861156320793, + 0.17637511182134338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7193262768901889, + -0.45058950815681653, + -0.5287142919519932, + -0.1615765907942304 + ], + [ + 0.46877428067115856, + 0.876537101508872, + -0.10924002682013283, + -0.16753172467576607 + ], + [ + 0.5126601029498368, + -0.169268440110446, + 0.8417409423486772, + 0.17834394263910175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7199518857276481, + -0.4502679271619606, + -0.5281364179892111, + -0.1680811191380958 + ], + [ + 0.46837909232547115, + 0.8767765421979881, + -0.10901339790919, + -0.17037139175398966 + ], + [ + 0.5121428590828648, + -0.16888365468751254, + 0.8421330079445989, + 0.18039483248979096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7203700838281498, + -0.45037072139952533, + -0.5274781091490868, + -0.1731700440996101 + ], + [ + 0.4682041001466581, + 0.8768413865657363, + -0.10924332204457873, + -0.1727572966434125 + ], + [ + 0.5117146303666555, + -0.1682717923822901, + 0.8425157214896164, + 0.1811896892677344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7207472766833041, + -0.4503636084093726, + -0.5269686739969368, + -0.17712760936486663 + ], + [ + 0.4681384631459433, + 0.8768901203232577, + -0.10913338720490932, + -0.17489806518313525 + ], + [ + 0.5112433300073018, + -0.16803671354781877, + 0.842848693671108, + 0.1814693275519883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7214195832543737, + -0.44937514800253975, + -0.5268925519067253, + -0.18162561993554996 + ], + [ + 0.4672504182905588, + 0.8774317262404038, + -0.10858458635590451, + -0.1777013322747942 + ], + [ + 0.5111074559272089, + -0.1678557182358722, + 0.8429671561520863, + 0.18177466745834894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7213357027280806, + -0.44959687797640246, + -0.5268182336286954, + -0.1862919948100496 + ], + [ + 0.46733347454994756, + 0.8773530267701726, + -0.1088627116247382, + -0.18013166866555344 + ], + [ + 0.5111499071063793, + -0.1676732349872493, + 0.8429777332373916, + 0.18214379540839584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7208461768115619, + -0.4501296885996668, + -0.5270332558931378, + -0.1906172962472248 + ], + [ + 0.4679599735865651, + 0.8770039265155232, + -0.10898429243343408, + -0.18232459487520858 + ], + [ + 0.5112673004378591, + -0.16806955797383996, + 0.8428276046650717, + 0.18324908449899344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7204113265654337, + -0.4505628776263212, + -0.5272576351854195, + -0.1967177913247619 + ], + [ + 0.46851028624410695, + 0.8767036488031111, + -0.10903588335395058, + -0.1852390137118826 + ], + [ + 0.5113762139948408, + -0.1684749402148584, + 0.8426805814066816, + 0.18468599230973076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_117/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_117/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6cfbac90f310a1c3590db280e53b27464e29103f --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_117/pan_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999997229208935, + -0.0007330710859179825, + 0.0001294794173563813, + -0.0015558756909925388 + ], + [ + 0.0007330206689579367, + 0.99999965567931, + 0.0003890012346679387, + -0.001001352181314828 + ], + [ + -0.00012976453833146042, + -0.0003889062157946972, + 0.9999999159565566, + 0.0017701852795493284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999997110624814, + 0.00033194381898673007, + 0.0006838773683619096, + -0.0020623378620293464 + ], + [ + -0.00033238272276582087, + 0.9999997388241555, + 0.0006417735945996314, + 0.00011288392514770695 + ], + [ + -0.0006836641569717437, + -0.0006420007181888955, + 0.9999995602191025, + 0.000778328071920044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999993273018012, + 0.0011459686378637057, + -0.0001793093031354174, + -0.002514721023371513 + ], + [ + -0.0011458012226953642, + 0.99999891018819, + 0.0009310005319603627, + 0.0008172937578899243 + ], + [ + 0.00018037600513348188, + -0.0009307944528592086, + 0.9999995505429908, + 0.00032632862648572053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999982116696686, + 0.0017329979488223321, + -0.0007572156723504583, + -0.0028158822729420817 + ], + [ + -0.001732010866440764, + 0.9999976520928671, + 0.0013022853420722531, + 0.0014305235226207136 + ], + [ + 0.0007594707523049714, + -0.0013009715073831253, + 0.9999988653380132, + 6.8715178587839675e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999947670515893, + 0.0026290501413887015, + -0.0018851962211172905, + -0.002932082366921046 + ], + [ + -0.0026253381593495297, + 0.9999946157085787, + 0.001968794910907933, + 0.0016312098615742052 + ], + [ + 0.0018903621312103375, + -0.001963835330728572, + 0.9999962849340026, + -0.00013204925525477115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999988166426895, + 0.0031603233482587643, + -0.003698562222099439, + -0.003228758258527609 + ], + [ + -0.0031509725683120746, + 0.9999918318561445, + 0.002531322355278647, + 0.0020248425272959836 + ], + [ + 0.003706531808852509, + -0.002519638332586474, + 0.9999899564718753, + -0.000267510479742752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999794198070441, + 0.0034975366694537744, + -0.005378401213529625, + -0.0035478600703872888 + ], + [ + -0.003477336958422133, + 0.9999868833525221, + 0.0037604854191252723, + 0.0019539418121818715 + ], + [ + 0.005391483102585247, + -0.0037417055142927092, + 0.9999784655430332, + -0.0002032078061606598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999679154407379, + 0.003192288731393169, + -0.007346930090911582, + -0.003889047534347829 + ], + [ + -0.0031505876009082826, + 0.9999789021499518, + 0.005680585598893894, + 0.0014329242513259532 + ], + [ + 0.007364909155877272, + -0.005657256192959437, + 0.9999568758529005, + -2.662379039449693e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999512851399692, + 0.0025169068975906808, + -0.009544240493279543, + -0.004114724455257213 + ], + [ + -0.0024327378773933215, + 0.9999581419903297, + 0.00882020712162113, + 0.0005612307458904156 + ], + [ + 0.00956604063051126, + -0.008796558811106804, + 0.9999155521441493, + 0.0003325967863444538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999225888429571, + 0.0019236445103858, + -0.012292921271889091, + -0.004141700980340178 + ], + [ + -0.0017781031154380353, + 0.9999283305622116, + 0.011839429394177108, + -0.0003443303436132264 + ], + [ + 0.012314815098492967, + -0.01181665480863759, + 0.9998543453914795, + 0.0009254767116039729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998841965253573, + 0.0012102485261519986, + -0.015169997934917731, + -0.004211571676049894 + ], + [ + -0.0009820763106919504, + 0.9998864187287398, + 0.01503945371132227, + -0.0012133933740561095 + ], + [ + 0.015186476383955526, + -0.015022813994720644, + 0.9997718169636107, + 0.001999930547360339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998402168305712, + 0.0005316651052083815, + -0.0178677961823125, + -0.004451845416481397 + ], + [ + -0.00023155634111708177, + 0.9998589449646856, + 0.01679394402059708, + -0.0015019051334796063 + ], + [ + 0.01787420459370559, + -0.016787123229486455, + 0.9996993074439038, + 0.0030572484390131924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997875064781131, + -1.9716188501824178e-05, + -0.020614109283429122, + -0.004662847497676916 + ], + [ + 0.0003778889568222862, + 0.9998490348505105, + 0.01737137612394188, + -0.0015427248378123597 + ], + [ + 0.020610654774013352, + -0.017375474663302214, + 0.9996365808582697, + 0.0036383833444894095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997292030294127, + -0.000584891337823678, + -0.02326324380430367, + -0.004869636222405988 + ], + [ + 0.0010037213931089342, + 0.999837548932954, + 0.01799634093664847, + -0.0016325037452833656 + ], + [ + 0.023248938761598337, + -0.018014817397520654, + 0.9995673830215717, + 0.004057760925138683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996544735962049, + -0.001578117975658894, + -0.02623819663676854, + -0.004982239857794643 + ], + [ + 0.0020798666436205636, + 0.9998152898209071, + 0.019106553720666913, + -0.0019387754348779282 + ], + [ + 0.02620319777888921, + -0.01915452385184446, + 0.999473109514293, + 0.0042883019652792155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995673789072997, + -0.00184504365375339, + -0.02935388966229819, + -0.005042124115412633 + ], + [ + 0.002432543657469141, + 0.9997971951692566, + 0.019991279674946676, + -0.0020504498779475595 + ], + [ + 0.02931105176797889, + -0.020054035643809295, + 0.9993691499634415, + 0.0045893083172201836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994570209204212, + -0.0026939176856763353, + -0.032839094694894384, + -0.0050271639342068675 + ], + [ + 0.0033580109952098466, + 0.9997906370753031, + 0.020184295348517504, + -0.0020557124251192665 + ], + [ + 0.03277784457577236, + -0.020283609739465407, + 0.9992568178806208, + 0.004432173502712701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992624810409653, + -0.004921425299039422, + -0.03808245733773781, + -0.004775157914853629 + ], + [ + 0.005703057006889296, + 0.9997747462983271, + 0.020443380466350955, + -0.0023344878696766923 + ], + [ + 0.03797326855342869, + -0.020645489510829805, + 0.9990654606372034, + 0.00458678122836285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999014512866645, + -0.007266344076606945, + -0.04378588043628157, + -0.004027030881873358 + ], + [ + 0.008153737527582274, + 0.9997642778187875, + 0.020122260355378264, + -0.0022643265454091854 + ], + [ + 0.04362934386569757, + -0.020459448703195555, + 0.9988382708489949, + 0.004974856779944772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985644353795784, + -0.012282638502696046, + -0.05213640941296285, + -0.0033039662315163167 + ], + [ + 0.01330826848001626, + 0.9997237952592015, + 0.019370678423897916, + -0.0024623388142006176 + ], + [ + 0.05188408604888207, + -0.020036715897330762, + 0.9984520877993706, + 0.005340224771885211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976765538465333, + -0.021150597655386506, + -0.06476222760008797, + -0.0018369396100801879 + ], + [ + 0.022298139748197873, + 0.9996060016042722, + 0.01704800634941961, + -0.0022880686834515942 + ], + [ + 0.06437613586318672, + -0.018452473426074128, + 0.9977550898671401, + 0.005601506191790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964514235641468, + -0.030411553977873124, + -0.07848374265818306, + -0.00017282752035212745 + ], + [ + 0.03158285330829928, + 0.9994068851578763, + 0.013725934428578484, + -0.0031638539398784107 + ], + [ + 0.07801976578977562, + -0.016155967432564873, + 0.9968208970835364, + 0.007128460169108228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.994430407229344, + -0.042002397642602385, + -0.09666418038732945, + 0.0010003402976231156 + ], + [ + 0.04297571153185734, + 0.9990440211973026, + 0.008008241270968015, + -0.006684663510725983 + ], + [ + 0.09623540614561796, + -0.012117850560068852, + 0.9952848357640098, + 0.013394236876894752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9919496113785888, + -0.052835532989867096, + -0.11508420803717402, + 0.002231780132736288 + ], + [ + 0.053300044377715725, + 0.9985780803030302, + 0.0009606287779470371, + -0.010929633124403867 + ], + [ + 0.11486981220146751, + -0.007086888738519296, + 0.993355274940848, + 0.020570934902889686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9896127820750549, + -0.0611192950293694, + -0.1301190736547991, + 0.003781272155430645 + ], + [ + 0.06092685812978306, + 0.9981272833519271, + -0.005462983336543394, + -0.0139792359901514 + ], + [ + 0.13020929118962063, + -0.0025215082024383625, + 0.9914833243601638, + 0.025290962582676806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9865258081204046, + -0.07101708647423394, + -0.14738861333594938, + 0.0053736135112922535 + ], + [ + 0.06972445951710951, + 0.9974690958504067, + -0.013924890248009273, + -0.0178604111943626 + ], + [ + 0.1480044920177417, + 0.0034606722010799788, + 0.9889806338298476, + 0.031294350373072224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9831348370705268, + -0.0810767141349154, + -0.16392821161531104, + 0.006200606929062828 + ], + [ + 0.07843854486366253, + 0.9966647015456945, + -0.022513715208800043, + -0.021564483638679178 + ], + [ + 0.16520680015659217, + 0.009275727352448335, + 0.9862153284471414, + 0.0376259557180521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9791683702561218, + -0.09212127357668652, + -0.18095019658618836, + 0.007051313967588662 + ], + [ + 0.08788780980585985, + 0.9956387182401641, + -0.03129337994867982, + -0.025395290943083598 + ], + [ + 0.18304380780976978, + 0.014738171382254538, + 0.9829942780742967, + 0.04404141567182402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9753698877304922, + -0.10162506140304763, + -0.19577009220877986, + 0.0076420029142957036 + ], + [ + 0.09594833697922123, + 0.9946495501197629, + -0.03829084848205396, + -0.02899870426544092 + ], + [ + 0.19861394397053087, + 0.018563925807345037, + 0.9799019756685311, + 0.04928407052051044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9700536291051957, + -0.11498155735160243, + -0.2139513919768685, + 0.008263935187175036 + ], + [ + 0.10729249407429653, + 0.9931041067894674, + -0.04724990786458145, + -0.0327544641228428 + ], + [ + 0.2179088740165405, + 0.0228795661430577, + 0.9757009009311967, + 0.05535473868658157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9640823979153199, + -0.12848535987641674, + -0.23245782913740434, + 0.008305738712841768 + ], + [ + 0.11847268021518123, + 0.9913432148560972, + -0.05659376645364166, + -0.037391079560970264 + ], + [ + 0.23771696210510176, + 0.027021152014775507, + 0.9709585486885196, + 0.06303752203368364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9590176337811895, + -0.13818902900052513, + -0.24736404419523123, + 0.007017830337928174 + ], + [ + 0.12614161767668436, + 0.9899465372109012, + -0.06398551206370724, + -0.04236220967078969 + ], + [ + 0.2537192747637386, + 0.030160333685780957, + 0.9668075733491773, + 0.07077024465885379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9531598632365893, + -0.15021002553291937, + -0.2625323281887515, + 0.007347108882615945 + ], + [ + 0.13586754261609932, + 0.9881025410467276, + -0.07206510417991793, + -0.04572558921876495 + ], + [ + 0.2702337617291168, + 0.033019942555972154, + 0.9622283499332844, + 0.07508509206035502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9479871660337316, + -0.15929938564002424, + -0.2755794599930216, + 0.006257480936063096 + ], + [ + 0.14304772895946866, + 0.9866186784974046, + -0.07823637568020163, + -0.049833473112826765 + ], + [ + 0.2843548492199015, + 0.03474606416194623, + 0.9580892603251439, + 0.08075361896102257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9438553451142292, + -0.1661469352894961, + -0.2855385847713201, + 0.0053212021674413496 + ], + [ + 0.14851936036709043, + 0.9854639343664068, + -0.0824792923056064, + -0.05228763086625438 + ], + [ + 0.29509165880358373, + 0.03544051293352479, + 0.9548114384251787, + 0.08470447836246828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9387145423977837, + -0.17575732565956864, + -0.29652043836456904, + 0.005175921454372295 + ], + [ + 0.1564701288464239, + 0.9837753389714949, + -0.08776776863008393, + -0.05388972623582845 + ], + [ + 0.3071353230576115, + 0.035992289570361574, + 0.9509849885365069, + 0.08718898726177576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9335462511099538, + -0.18396883550798412, + -0.30764730553084285, + 0.004480328077937955 + ], + [ + 0.16318599074677168, + 0.9822772053314107, + -0.09220533775388627, + -0.056608746332772374 + ], + [ + 0.31915784411877773, + 0.03587421703884227, + 0.947022339276801, + 0.09107398034670337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9286857123089556, + -0.19131759207670343, + -0.31771123164782894, + 0.00402292215654565 + ], + [ + 0.1693456489408134, + 0.9809024215104941, + -0.09566865034933823, + -0.05851515665771849 + ], + [ + 0.32994681228650036, + 0.03504309399612489, + 0.9433488658100755, + 0.09376951300252205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9224128394828891, + -0.20089149910806423, + -0.32984414371522314, + 0.0030356356105570464 + ], + [ + 0.17756796378142925, + 0.9790436340278951, + -0.09971549983814317, + -0.06120723063425184 + ], + [ + 0.34296380537256577, + 0.033409104381415915, + 0.9387543128789347, + 0.09737058429589919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9161884303204709, + -0.20945688975158785, + -0.34165270594933494, + 0.001205647551010105 + ], + [ + 0.18498033606546113, + 0.9773176754721967, + -0.10311370655121997, + -0.0647288165494769 + ], + [ + 0.3555011046621664, + 0.03127255258550575, + 0.9341525528727983, + 0.10210702940819597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.910636373513857, + -0.21646183637592062, + -0.35197396015372434, + -8.851903659779642e-05 + ], + [ + 0.19104024125271188, + 0.975854984894563, + -0.10588047354700633, + -0.0672442095714216 + ], + [ + 0.36639462530942923, + 0.029177420194335807, + 0.9300019659630653, + 0.10508442121691657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9067286723782727, + -0.22095672677516953, + -0.3591952666446734, + -0.0007033425720457287 + ], + [ + 0.19478971439150727, + 0.9748833091974171, + -0.10797916750729451, + -0.0681367505889554 + ], + [ + 0.37403219360692735, + 0.027940263797903066, + 0.9269947463737287, + 0.1059632631893858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9029594519755637, + -0.22509516371463845, + -0.3660551807586797, + -0.001459911407240655 + ], + [ + 0.1981857199636607, + 0.9739676588439504, + -0.11004280952665475, + -0.0687201618665889 + ], + [ + 0.3812960116372515, + 0.026817285438952627, + 0.92406395055278, + 0.1067202435990836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8990599960739365, + -0.2290334565581169, + -0.373141795081407, + -0.0018176408287825976 + ], + [ + 0.20160551999636855, + 0.9730963362500346, + -0.11152907550837812, + -0.06889112090777909 + ], + [ + 0.38864680336589336, + 0.025043884558926737, + 0.9210463973544828, + 0.10655980862408107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8945993107493205, + -0.2339678856092402, + -0.38072444327936494, + -0.0019277735671951242 + ], + [ + 0.20617054855844286, + 0.9719843796196711, + -0.11287192158581408, + -0.06875471299203263 + ], + [ + 0.396466616645023, + 0.022480975933106197, + 0.9177738433879795, + 0.10578619339464619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8868242673141276, + -0.24356193449717295, + -0.3927089290642069, + -0.002671582600321057 + ], + [ + 0.21530766220150965, + 0.9697251534189756, + -0.11522038632058725, + -0.06947189272847361 + ], + [ + 0.40888302667154336, + 0.01762699323593262, + 0.9124165493947262, + 0.10654898985795358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.876627395629539, + -0.2556313057958343, + -0.40764818744707915, + -0.00338746094378447 + ], + [ + 0.22733478872816046, + 0.9667205717376633, + -0.11734662335631212, + -0.07081263962153374 + ], + [ + 0.42407935939596847, + 0.010196650250065026, + 0.9055676259992862, + 0.10723249285807458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8670797339825317, + -0.26538962952897754, + -0.421593500252618, + -0.005208450345074719 + ], + [ + 0.23777066932954682, + 0.9641391991747592, + -0.11790128676665682, + -0.07224458085696739 + ], + [ + 0.4377645985268355, + 0.00198724762577953, + 0.8990874301888068, + 0.10978079188369959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8527926443559645, + -0.2797078196642469, + -0.44103088480404046, + -0.009795954255382176 + ], + [ + 0.253390104852814, + 0.9600293169302669, + -0.11889981243502827, + -0.07448382053038277 + ], + [ + 0.4566597863782639, + -0.01035597668392918, + 0.8895811335970881, + 0.11406116788604617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8345294718001796, + -0.2983131183984813, + -0.46321684348508707, + -0.01518378128420612 + ], + [ + 0.2729191412915072, + 0.9541677096922104, + -0.12279708505265385, + -0.07575890397970307 + ], + [ + 0.4786185360113212, + -0.023942956628119492, + 0.8776964348875324, + 0.1205461537740392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8189246400133122, + -0.31357745397606357, + -0.4806574813075907, + -0.020672487253301557 + ], + [ + 0.28770050065807157, + 0.9489998802630685, + -0.12894824225935225, + -0.07689964609227837 + ], + [ + 0.49657915371082795, + -0.0326865051446521, + 0.8673757758211067, + 0.12511344732242907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7996733545403165, + -0.3322795673675914, + -0.5001128024238571, + -0.029422263522987956 + ], + [ + 0.30547433300181265, + 0.9422109349421066, + -0.13756447925471016, + -0.07647994919401233 + ], + [ + 0.5169216168002024, + -0.042764976154889216, + 0.8549638582414679, + 0.13201651890679272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7796781768093071, + -0.34989451610223005, + -0.5193031563633147, + -0.03704248972339074 + ], + [ + 0.32245737164231425, + 0.9352540642354017, + -0.1460173921308476, + -0.07641375522284168 + ], + [ + 0.5367710723211948, + -0.05360655680744332, + 0.842023249670937, + 0.13616306172853243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7621517178743594, + -0.3638646836988552, + -0.5354691876269773, + -0.044605903057472834 + ], + [ + 0.33646961901375494, + 0.9292568953029542, + -0.15254447880094946, + -0.07646067213360992 + ], + [ + 0.5530939833535541, + -0.06390707698406148, + 0.8306641505984543, + 0.14008242897295564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7390438098362546, + -0.3817554750412442, + -0.5550468488503907, + -0.054827499414679515 + ], + [ + 0.3547076400716451, + 0.9209846820985771, + -0.16115118806446166, + -0.07644405298907322 + ], + [ + 0.5727099939913034, + -0.07778156989812668, + 0.8160596118952735, + 0.14444640650407345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7162687263108708, + -0.39827655017753055, + -0.5730051494425585, + -0.06414091524036801 + ], + [ + 0.3712237669993514, + 0.9127740608167344, + -0.17040078848098297, + -0.07670388069902495 + ], + [ + 0.5908908753093206, + -0.09066037435845108, + 0.8016412352152122, + 0.14725320250276341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7007901195947571, + -0.4081685100240795, + -0.5850569850049561, + -0.07177142498706991 + ], + [ + 0.3810663038978137, + 0.9075086716664157, + -0.17668186914315007, + -0.0762258079192817 + ], + [ + 0.6030602625874345, + -0.09912859463838386, + 0.79151237603274, + 0.14962469758096789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6874223706881631, + -0.4156780262648139, + -0.5955352741509561, + -0.08075220619737541 + ], + [ + 0.3889551942355044, + 0.9032082860873647, + -0.1814625273172027, + -0.07479448512320676 + ], + [ + 0.6133223794666935, + -0.10689513751202247, + 0.7825657086926306, + 0.15239508307726807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6779012295433436, + -0.4200444064365135, + -0.6033345834651118, + -0.08729804021399744 + ], + [ + 0.3936925508443147, + 0.9005170217982142, + -0.18459487766829083, + -0.07396474695719424 + ], + [ + 0.6208511080712666, + -0.11239123663823451, + 0.7758299501395964, + 0.15299607610868998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6689337366120447, + -0.4228806008137534, + -0.6113097851970365, + -0.09424741425048469 + ], + [ + 0.3976887594096449, + 0.8984060800694189, + -0.1863066448989911, + -0.07263267871544445 + ], + [ + 0.6279898937574279, + -0.11848422996205042, + 0.769148997651843, + 0.15277906813755193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6608186659489239, + -0.42451843937150885, + -0.6189529750853965, + -0.10098200469828138 + ], + [ + 0.40104131174450897, + 0.8967891859432676, + -0.18690912832030188, + -0.07060587287009938 + ], + [ + 0.6344167061228199, + -0.12471267220611565, + 0.7628644652777332, + 0.15286936011174715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6493278587652792, + -0.4281960643251502, + -0.6285073287780735, + -0.11005752017199645 + ], + [ + 0.4068434730472738, + 0.8938116262373395, + -0.18862440256179705, + -0.06871994324183016 + ], + [ + 0.6425353844498604, + -0.13322502504940445, + 0.7545855633594216, + 0.15276788970005456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6371122964984691, + -0.4320242935911034, + -0.6383125655958488, + -0.12064173989121982 + ], + [ + 0.41287852750433857, + 0.890602769113071, + -0.1906778151069991, + -0.0678835835254822 + ], + [ + 0.6508603868544279, + -0.1420623714965999, + 0.7457875296815213, + 0.1538328090083253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6247886139969043, + -0.4365396907099774, + -0.647357927467228, + -0.12942497440623843 + ], + [ + 0.41825910326020604, + 0.8872329632994977, + -0.19462012068324494, + -0.0672845168816169 + ], + [ + 0.6593166995911721, + -0.14916691077323335, + 0.7369197530061022, + 0.15366671090586392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6130706505112561, + -0.4424278772966817, + -0.6545242171779884, + -0.13768561234044224 + ], + [ + 0.4233722225487969, + 0.8834630666629195, + -0.200621462004051, + -0.06993150180888436 + ], + [ + 0.6670084996878212, + -0.15411224232131351, + 0.7289369507103474, + 0.15202459672154006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6027471574192973, + -0.4464437538761249, + -0.6613500123595304, + -0.14771882047927398 + ], + [ + 0.4281729358601014, + 0.8803580936750973, + -0.20405284584560526, + -0.07293946913042612 + ], + [ + 0.6733229546212564, + -0.16017990362633783, + 0.7217884712672813, + 0.1533778522862691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.5949259182562825, + -0.44868052263438135, + -0.6668949995280049, + -0.15503089965202219 + ], + [ + 0.4305332281893749, + 0.878519807710429, + -0.2069881322329054, + -0.07426649590523071 + ], + [ + 0.678752010097764, + -0.16397785237332954, + 0.7158260771439356, + 0.15357923310471377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5869407940803691, + -0.45125517856554287, + -0.6722122195126224, + -0.16396722151051152 + ], + [ + 0.43340278471478627, + 0.8764130157587964, + -0.20991010459251552, + -0.0768142998144983 + ], + [ + 0.6838585602635786, + -0.16813384438105333, + 0.7099778024191133, + 0.15548546895234855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.5835378207428464, + -0.4512947936150864, + -0.6751419265744104, + -0.17072964387405587 + ], + [ + 0.43341874678358383, + 0.8761348316844892, + -0.2110354156196057, + -0.07920186887960286 + ], + [ + 0.6867545425399366, + -0.16947202118670976, + 0.7068574342366741, + 0.15697646862760187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5811840840938508, + -0.45110379206589046, + -0.6772964116099878, + -0.17628347182025558 + ], + [ + 0.4328945083554998, + 0.8761422543685302, + -0.21207803928195926, + -0.0811682422163166 + ], + [ + 0.6890772126776813, + -0.16994151609834465, + 0.704480287924761, + 0.1575264713606788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5790380739026425, + -0.45066650598199676, + -0.6794222614524024, + -0.18280505003800324 + ], + [ + 0.43226679128910817, + 0.8762682607745089, + -0.21283645436775087, + -0.08388265364673822 + ], + [ + 0.6912744246098913, + -0.17045127029504936, + 0.7022008504232016, + 0.15833039067668234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.577176473121407, + -0.45048724547352187, + -0.6811230142498588, + -0.18927881304290214 + ], + [ + 0.43135583835548974, + 0.8764049084806627, + -0.2141181382032692, + -0.08568016911139831 + ], + [ + 0.6933970432528299, + -0.170222436995481, + 0.7001605975428444, + 0.15944210118704152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5754585890002272, + -0.45068204941489404, + -0.6824464101166176, + -0.19647178188748401 + ], + [ + 0.43045224859489284, + 0.8764320398794716, + -0.21581876923082666, + -0.08650670867314605 + ], + [ + 0.6953835445460788, + -0.16956582735887338, + 0.6983474465956272, + 0.16111418735904479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5737903184096116, + -0.45058950815681653, + -0.6839106415595496, + -0.20269288341353991 + ], + [ + 0.4296124002329166, + 0.876537101508872, + -0.2170619617633125, + -0.08754771416308149 + ], + [ + 0.6972788940341654, + -0.169268440110446, + 0.6965273426916329, + 0.16289819747902354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5722950887306403, + -0.45026792716196073, + -0.6853737120608434, + -0.20973090240057718 + ], + [ + 0.4285704568874841, + 0.8767765421979883, + -0.21815191618363758, + -0.08926956160067576 + ], + [ + 0.6991464044805221, + -0.16888365468751257, + 0.6947464402797234, + 0.16477309443119606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5706147693236004, + -0.45037072139952544, + -0.6867059038160703, + -0.2153922992308156 + ], + [ + 0.4276286479724647, + 0.8768413865657365, + -0.21973375307111864, + -0.09055341665287472 + ], + [ + 0.701093805751425, + -0.16827179238229012, + 0.692930068207056, + 0.16541420873189472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5688554642209568, + -0.45036360840937273, + -0.6881686428822873, + -0.21991215216375704 + ], + [ + 0.426870725863768, + 0.876890120323258, + -0.22100927645689958, + -0.09159350375242575 + ], + [ + 0.7029828192968158, + -0.1680367135478188, + 0.6910707768915921, + 0.1655058397649455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5672704499318855, + -0.44937514800253986, + -0.6901204336865935, + -0.22487797793079442 + ], + [ + 0.42542201879965935, + 0.877431726240404, + -0.22165214121954102, + -0.09324852862415534 + ], + [ + 0.7051385272090152, + -0.16785571823587223, + 0.6889151727905409, + 0.16561855457814625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5649466046374917, + -0.44959687797640246, + -0.6918800338371112, + -0.23012769041274883 + ], + [ + 0.4247045280678193, + 0.8773530267701726, + -0.22333322694106283, + -0.0945897485554616 + ], + [ + 0.7074329634299359, + -0.1676732349872493, + 0.6866034434239681, + 0.16579565499713902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.5621511818091788, + -0.4501296885996669, + -0.6938078352337276, + -0.2350676029964419 + ], + [ + 0.4245459950207202, + 0.8770039265155234, + -0.22499957997343395, + -0.09572045713180065 + ], + [ + 0.7097511866157119, + -0.16806955797384, + 0.6841095502769039, + 0.16665221564907673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5593995882190168, + -0.4505628776263212, + -0.6957479385564022, + -0.241774079087394 + ], + [ + 0.4243256221536875, + 0.8767036488031111, + -0.22657996063023159, + -0.09756864883157147 + ], + [ + 0.7120532754536563, + -0.1684749402148584, + 0.6816130334987143, + 0.16783849828824493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_117/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_117/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..573badad02155b719e4363949cdcf3b0c5b86878 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_117/pull_out/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999997229208935, + -0.0007330710859179825, + 0.0001294794173563813, + -0.0015558756909925388 + ], + [ + 0.0007330206689579367, + 0.99999965567931, + 0.0003890012346679387, + -0.001001352181314828 + ], + [ + -0.00012976453833146042, + -0.0003889062157946972, + 0.9999999159565566, + 0.0017701852795493284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999992118486265, + 0.00033194381898673007, + 0.003956359267455808, + -0.002067283311113666 + ], + [ + -0.00033448113841842985, + 0.9999997388241555, + 0.0006406824401845768, + 0.00011208307209747623 + ], + [ + -0.003956145563574382, + -0.0006420007181888955, + 0.9999919683414252, + -0.00047166188850673765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999790825486045, + 0.0011459686378637057, + 0.006365628101955338, + -0.0025306350936264016 + ], + [ + -0.0011518700222691875, + 0.99999891018819, + 0.0009234813935528162, + 0.0008149850544060422 + ], + [ + -0.006364562883903992, + -0.0009307944528592086, + 0.999979312766511, + -0.0021736196554305574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999574545432407, + 0.0017329979488223321, + 0.00906012259920048, + -0.0028498577326890834 + ], + [ + -0.0017447123501058675, + 0.9999976520928671, + 0.0012852188798151047, + 0.001425703951821407 + ], + [ + -0.009057874045191495, + -0.0013009715073831253, + 0.9999581303189243, + -0.003742971470837183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999337715300227, + 0.0026290501413887015, + 0.011204492362382542, + -0.0029881048287329587 + ], + [ + -0.002650883969407072, + 0.9999946157085787, + 0.0019342616247277297, + 0.0016215385534505665 + ], + [ + -0.01119934676333246, + -0.001963835330728572, + 0.9999353569020693, + -0.005131726039765118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999148208030056, + 0.0031603233482587643, + 0.012663470883910684, + -0.0033079049515520507 + ], + [ + -0.003191967589574363, + 0.9999918318561445, + 0.002479428139651453, + 0.002009346101423162 + ], + [ + -0.012655531652218721, + -0.002519638332586474, + 0.9999167410046063, + -0.006516990111021541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998922621314933, + 0.0034975366694537744, + 0.01425592391994458, + -0.0036547794997868733 + ], + [ + -0.0035504988828481123, + 0.9999868833525221, + 0.003691487585345043, + 0.0019262556552917837 + ], + [ + -0.01424282581682147, + -0.0037417055142927092, + 0.9998915648972124, + -0.007702394542889754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999873844469504, + 0.003192288731393169, + 0.015559705602278637, + -0.004025194958367767 + ], + [ + -0.003279877329731537, + 0.9999789021499518, + 0.005606929612476942, + 0.00138386361721678 + ], + [ + -0.01554147838772342, + -0.005657256192959437, + 0.9998632195965063, + -0.008775426961863926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998584658989227, + 0.0025169068975906803, + 0.016634703181065077, + -0.004281071487067864 + ], + [ + -0.0026627903447691338, + 0.9999581419903295, + 0.008753503003267007, + 0.00047369571585774553 + ], + [ + -0.016611975133411453, + -0.008796558811106803, + 0.9998233158089733, + -0.00966563637174528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998509349928771, + 0.0019236445103858, + 0.01715830369435109, + -0.004334731896901627 + ], + [ + -0.0021259815351910953, + 0.9999283305622116, + 0.01178193284571177, + -0.00047687708812748383 + ], + [ + -0.017134409717931523, + -0.01181665480863759, + 0.9997833658712032, + -0.010322086154447064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998451944231923, + 0.0012102485261519986, + 0.017553418110258383, + -0.004430989402428124 + ], + [ + -0.001473627626311063, + 0.9998864187287398, + 0.014999268763309774, + -0.0014008842335974817 + ], + [ + -0.01753327152780031, + -0.015022813994720644, + 0.9997334141906092, + -0.010496737130022277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998355389199024, + 0.0005316651052083815, + 0.018127670698811254, + -0.004701100888590052 + ], + [ + -0.0008358143634266282, + 0.9998589449646856, + 0.01677473065226234, + -0.0017325576799482134 + ], + [ + -0.018116195160643587, + -0.016787123229486455, + 0.9996949514559829, + -0.010688557143506574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998260126761451, + -1.9716188501824175e-05, + 0.018653256750307514, + -0.004942646348931528 + ], + [ + -0.00030439940797589624, + 0.9998490348505102, + 0.017372819273323774, + -0.0018033171269122164 + ], + [ + -0.018650783284393336, + -0.01737547466330221, + 0.9996750677910816, + -0.011356742672376817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998140323318156, + -0.000584891337823678, + 0.019275856777799753, + -0.0051828688950452334 + ], + [ + 0.0002374366095871881, + 0.999837548932954, + 0.01802274583961894, + -0.0019253733651771734 + ], + [ + -0.019283266742223363, + -0.018014817397520654, + 0.9996517503500318, + -0.012186580018049334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998071971987831, + -0.001578117975658894, + 0.019572377810802618, + -0.005324756469483689 + ], + [ + 0.0012026256893120178, + 0.9998152898209071, + 0.01918176039333676, + -0.0022744562417613217 + ], + [ + -0.019599033674273413, + -0.01915452385184446, + 0.9996244205175483, + -0.01320512539377788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998036833217174, + -0.00184504365375339, + 0.01972791499988281, + -0.005412022521660436 + ], + [ + 0.0014486879516222744, + 0.9997971951692566, + 0.020086558563035477, + -0.0024270728510044745 + ], + [ + -0.019760974660822817, + -0.020054035643809295, + 0.9996035911974561, + -0.01415325901773212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998059652319623, + -0.002693917685676335, + 0.01951344905667038, + -0.005417432915340276 + ], + [ + 0.0022970445596924858, + 0.9997906370753029, + 0.020332378189747567, + -0.0024623599889142178 + ], + [ + -0.019564137417102168, + -0.020283609739465403, + 0.9996028309799158, + -0.015559883116885618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998340655098055, + -0.004921425299039422, + 0.017539128232612205, + -0.005147864389796639 + ], + [ + 0.00455750677632972, + 0.9997747462983271, + 0.020728863840054464, + -0.00277497622627785 + ], + [ + -0.01763719303397648, + -0.020645489510829805, + 0.9996312786146402, + -0.016655383442198256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998595422400669, + -0.007266344076606945, + 0.015102848580460891, + -0.004366844974933728 + ], + [ + 0.006954982129858356, + 0.9997642778187875, + 0.020567377592967027, + -0.0027270925412509438 + ], + [ + -0.015248738146394976, + -0.020459448703195555, + 0.9996743904610661, + -0.017517817005429218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99987443608058, + -0.012282638502696046, + 0.010012435465684647, + -0.003541761573826327 + ], + [ + 0.012078910087725148, + 0.9997237952592015, + 0.02016018659712529, + -0.0029411432458823434 + ], + [ + -0.010257290267661475, + -0.020036715897330762, + 0.9997466269072454, + -0.01840375761716187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997761041026628, + -0.021150597655386506, + 0.0006276018815514476, + -0.001852629657118974 + ], + [ + 0.02113540475697324, + 0.9996060016042722, + 0.0184698733747399, + -0.0027498155178200916 + ], + [ + -0.0010180034679120199, + -0.018452473426074128, + 0.9998292203638577, + -0.01939422431730558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994886910101493, + -0.030411553977873124, + -0.009873901329722915, + 8.636238955309907e-05 + ], + [ + 0.03056576751965475, + 0.9994068851578763, + 0.015862274583602627, + -0.00358023864769798 + ], + [ + 0.009385648552583515, + -0.016155967432564873, + 0.9998254319217755, + -0.019116957418838385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9988076376054958, + -0.042002397642602385, + -0.024881753418944677, + 0.0016845885166440941 + ], + [ + 0.04228832853711073, + 0.9990440211973026, + 0.011078852804367316, + -0.006989331962846084 + ], + [ + 0.02439262860918933, + -0.012117850560068852, + 0.9996290098668296, + -0.014095560894443065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.997795059994867, + -0.05283553298986708, + -0.040167458265572845, + 0.0033865945578715074 + ], + [ + 0.05307690302448548, + 0.99857808030303, + 0.004965873905451994, + -0.011072401999185612 + ], + [ + 0.03984796877093277, + -0.007086888738519294, + 0.999180622006271, + -0.008155507979790609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.996771160990387, + -0.061119295029369386, + -0.0520738359734411, + 0.005343487234633878 + ], + [ + 0.06116766169204135, + 0.9981272833519269, + -0.0006658765876938698, + -0.013959259692520584 + ], + [ + 0.052017014341501015, + -0.002521508202438362, + 0.9986430154040937, + -0.0046683278794460124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.99527087117381, + -0.07101708647423394, + -0.06627568499560434, + 0.0074447286674048894 + ], + [ + 0.0706292048739888, + 0.9974690958504067, + -0.008180357097356098, + -0.01760477503507022 + ], + [ + 0.06668889271680488, + 0.0034606722010799788, + 0.9977678163461293, + 0.00011410611225568315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9935092951421057, + -0.0810767141349154, + -0.07978625753424934, + 0.008793660298925933 + ], + [ + 0.0800680557319596, + 0.9966647015456945, + -0.01576639287013877, + -0.02105207587039967 + ], + [ + 0.08079843388049154, + 0.009275727352448335, + 0.9966872999915987, + 0.005233618468325145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.991316141295645, + -0.09212127357668652, + -0.0938401777562379, + 0.01021841996686169 + ], + [ + 0.09030636441049124, + 0.9956387182401641, + -0.023415876836945248, + -0.024605005099836697 + ], + [ + 0.09558801469678407, + 0.014738171382254538, + 0.995311869591956, + 0.010449640073095498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9891914207329556, + -0.10162506140304763, + -0.10570089897036777, + 0.011341534378258576 + ], + [ + 0.09904950137260567, + 0.9946495501197629, + -0.029350787457783762, + -0.02797142670441849 + ], + [ + 0.10811812718575586, + 0.018563925807345037, + 0.9939647132732955, + 0.014495305555945096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9859625503860683, + -0.11498155735160243, + -0.1210664722588384, + 0.012652594806557928 + ], + [ + 0.11128709068831405, + 0.9931041067894674, + -0.036870266123603654, + -0.03141791697586217 + ], + [ + 0.12447101141362552, + 0.0228795661430577, + 0.9919594209294927, + 0.019396209677887452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9822249293180998, + -0.12848535987641674, + -0.13684188146719478, + 0.013437309267861573 + ], + [ + 0.12344936102633268, + 0.9913432148560972, + -0.04470889867764695, + -0.035714495860558505 + ], + [ + 0.14140170963692156, + 0.027021152014775507, + 0.9895834547199899, + 0.025928142481684013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9791383610064999, + -0.13818902900052513, + -0.1489693333186295, + 0.012790392004025068 + ], + [ + 0.13197310474727106, + 0.9899465372109012, + -0.050881755939741855, + -0.04039054162812469 + ], + [ + 0.15450297611654845, + 0.030160333685780957, + 0.987531865127952, + 0.03250338488514564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9753804545986663, + -0.15021002553291937, + -0.16146181287319528, + 0.013805581397543757 + ], + [ + 0.1426561005967429, + 0.9881025410467276, + -0.05746829856131078, + -0.043426857276312514 + ], + [ + 0.1681731421762434, + 0.033019942555972154, + 0.985204282189318, + 0.03567692077278229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9721673017673382, + -0.15929938564002424, + -0.1717976807443111, + 0.01334413526676593 + ], + [ + 0.1506469139876593, + 0.9866186784974046, + -0.06236257327941194, + -0.04726101696505102 + ], + [ + 0.1794331203552125, + 0.03474606416194623, + 0.9831563793948783, + 0.04019841831098383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9697238446386601, + -0.16614693528949606, + -0.17897167662265584, + 0.012927498423904223 + ], + [ + 0.1567590989373895, + 0.9854639343664066, + -0.06547838546742774, + -0.0495047994838887 + ], + [ + 0.187249165657832, + 0.035440512933524786, + 0.9816729190537218, + 0.042983379302685094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9664522982296577, + -0.17575732565956864, + -0.1872947349062684, + 0.013370066106521538 + ], + [ + 0.16547561388401077, + 0.9837753389714949, + -0.06931019868122015, + -0.050857405043525074 + ], + [ + 0.19643771648113512, + 0.035992289570361574, + 0.9798554886487908, + 0.04432030963339116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9632353987128294, + -0.18396883550798412, + -0.1957882382278699, + 0.013290798798192102 + ], + [ + 0.1728924354588701, + 0.9822772053314107, + -0.07238575583230533, + -0.05335138732031863 + ], + [ + 0.20563504669106697, + 0.03587421703884227, + 0.9779709955434327, + 0.0470652855472489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9602615901047916, + -0.19131759207670343, + -0.20321234591281484, + 0.013421493155013337 + ], + [ + 0.1796612730081267, + 0.9809024215104941, + -0.07451353203243358, + -0.05506890580121843 + ], + [ + 0.21358723171228372, + 0.03504309399612489, + 0.9762952811586575, + 0.048615856248934136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9562019238916903, + -0.20089149910806417, + -0.21288608768997738, + 0.013147724775830974 + ], + [ + 0.18856492568147962, + 0.9790436340278948, + -0.07692094300118635, + -0.057553485841695486 + ], + [ + 0.2238775324782908, + 0.03340910438141591, + 0.9740444970307381, + 0.05110347068693912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.952222692151838, + -0.20945688975158785, + -0.22226055854941357, + 0.012040849780294018 + ], + [ + 0.19660025112033677, + 0.9773176754721967, + -0.0787305688347453, + -0.06089070131878307 + ], + [ + 0.23370983250716398, + 0.03127255258550575, + 0.9718033451497583, + 0.05473161633214524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.948787573879873, + -0.21646183637592056, + -0.23010087579995986, + 0.011416524753400197 + ], + [ + 0.20322604054816082, + 0.9758549848945628, + -0.08003889616648857, + -0.06324226476309718 + ], + [ + 0.24187045312369526, + 0.0291774201943358, + 0.9698697655131545, + 0.05659093294125884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9466289092532629, + -0.22095672677516953, + -0.2346738866145543, + 0.011323694116950181 + ], + [ + 0.20748339521962722, + 0.9748833091974171, + -0.08095167790990689, + -0.06398797709607267 + ], + [ + 0.24666647294294697, + 0.027940263797903066, + 0.9686975755026901, + 0.05631751244487292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9445980262912909, + -0.22509516371463845, + -0.23888645001104125, + 0.011081627218339012 + ], + [ + 0.2113939209282486, + 0.9739676588439504, + -0.08185114367322868, + -0.0644229768237444 + ], + [ + 0.2510919730321521, + 0.026817285438952627, + 0.9675916774551684, + 0.05592168053268725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9425077292268209, + -0.2290334565581169, + -0.24335746572633205, + 0.01126282295400775 + ], + [ + 0.2152550969553127, + 0.9730963362500346, + -0.0821508588605049, + -0.06447551224402695 + ], + [ + 0.2556255534614265, + 0.025043884558926737, + 0.9664514370953868, + 0.05461304388020403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9399725971532743, + -0.2339678856092402, + -0.24841607255664858, + 0.011735110423420549 + ], + [ + 0.2202332572797664, + 0.9719843796196711, + -0.08211990114039125, + -0.06423811842931111 + ], + [ + 0.2606699618077864, + 0.022480975933106197, + 0.965166191250099, + 0.05270205287589074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9348481011783107, + -0.24356193449717295, + -0.25833430238220845, + 0.011859721908678168 + ], + [ + 0.22988362381691518, + 0.9697251534189756, + -0.08238110418869002, + -0.0648379556178598 + ], + [ + 0.2705781721131816, + 0.01762699323593262, + 0.9625366184646433, + 0.05240630506931739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9278473274022462, + -0.2556313057958343, + -0.2715731439771356, + 0.012227994834900831 + ], + [ + 0.242361961035821, + 0.9667205717376633, + -0.08192689437588065, + -0.0661018431949206 + ], + [ + 0.28347842400327505, + 0.010196650250065026, + 0.9589244034063882, + 0.05209433966220725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9214325691485451, + -0.26538962952897754, + -0.28377872550771605, + 0.011463549778503598 + ], + [ + 0.25302642800805847, + 0.9641391991747592, + -0.08008265320365546, + -0.06753972498125263 + ], + [ + 0.2948552988192588, + 0.00198724762577953, + 0.9555398493025183, + 0.05364282573717663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9112857823062217, + -0.2797078196642469, + -0.30219490165323887, + 0.00833573984381216 + ], + [ + 0.26887048073696124, + 0.9600293169302669, + -0.07779701294188823, + -0.06981599975386947 + ], + [ + 0.3118763978803349, + -0.01035597668392918, + 0.9500662430547193, + 0.057057193302763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8977832943049463, + -0.29831311839848124, + -0.3240284553219549, + 0.0046629616042636185 + ], + [ + 0.28902439278067044, + 0.9541677096922102, + -0.07764587663544706, + -0.07100309403578194 + ], + [ + 0.33234027267955835, + -0.023942956628119485, + 0.9428555976305073, + 0.06279624841917061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.886283463507395, + -0.31357745397606357, + -0.34083838203938505, + 0.0006299116241600088 + ], + [ + 0.30486286557800496, + 0.9489998802630685, + -0.08036081415869875, + -0.0718770952073597 + ], + [ + 0.34865492324776276, + -0.0326865051446521, + 0.9366810219474532, + 0.06657088345071324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8716423020934982, + -0.3322795673675914, + -0.36031928384580475, + -0.006451909177817898 + ], + [ + 0.3240824357490039, + 0.9422109349421066, + -0.0849065893468503, + -0.07106715412315062 + ], + [ + 0.36770949408485504, + -0.042764976154889216, + 0.9289568799327191, + 0.07279551781108187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8563602831471276, + -0.34989451610223005, + -0.37976425983728096, + -0.012357812833967478 + ], + [ + 0.34252778932071276, + 0.9352540642354017, + -0.08930032964232969, + -0.07060923379609024 + ], + [ + 0.38642176309213866, + -0.05360655680744332, + 0.9207630303590678, + 0.07631346475519302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.843124802554053, + -0.3638646836988552, + -0.3959078924130226, + -0.018377005185110082 + ], + [ + 0.35774660944827513, + 0.9292568953029542, + -0.0921899450058305, + -0.07035308827697365 + ], + [ + 0.40144480410942274, + -0.06390707698406148, + 0.9136508932655298, + 0.07955305729411427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8251095326023672, + -0.3817554750412442, + -0.41648171206517287, + -0.026714983850280344 + ], + [ + 0.377513404159728, + 0.9209846820985771, + -0.0962852274210175, + -0.06994480013815454 + ], + [ + 0.420330689919779, + -0.07778156989812668, + 0.9040310495197307, + 0.08342431066149163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8072757088999797, + -0.39827655017753044, + -0.4355246484399258, + -0.03419859566012311 + ], + [ + 0.39573163478044476, + 0.9127740608167342, + -0.10119282155432793, + -0.06974687421716491 + ], + [ + 0.43783832981367965, + -0.09066037435845106, + 0.8944709573078119, + 0.08575832418785134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7956734913691051, + -0.4081685100240795, + -0.44755129600663857, + -0.04044283426660521 + ], + [ + 0.40688302668301946, + 0.9075086716664157, + -0.10427949677440629, + -0.06892624314507326 + ], + [ + 0.44872028896603755, + -0.09912859463838386, + 0.8881574319878515, + 0.08745367734181828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7859411963077104, + -0.4156780262648139, + -0.4577206729294559, + -0.048139608251151676 + ], + [ + 0.41586072895259335, + 0.9032082860873647, + -0.10618213624778523, + -0.06722900791555206 + ], + [ + 0.45755468532342997, + -0.10689513751202247, + 0.8827327678946008, + 0.08950037336477776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7795561924626204, + -0.4200444064365135, + -0.46460180737334505, + -0.05361440917942992 + ], + [ + 0.42144923185291167, + 0.9005170217982142, + -0.10700298324002593, + -0.06620703067229236 + ], + [ + 0.4633278404799052, + -0.11239123663823451, + 0.8790310131975753, + 0.08926632765186576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7738018373857269, + -0.4228806008137534, + -0.4715959222829139, + -0.059467214982119786 + ], + [ + 0.42604754716565846, + 0.8984060800694189, + -0.10653639213164283, + -0.06477561979573579 + ], + [ + 0.4687368174280737, + -0.11848422996205042, + 0.8753555181968643, + 0.08822159867053318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7688729558006545, + -0.42451843937150885, + -0.47814064089130043, + -0.06512145663143384 + ], + [ + 0.4297995774243791, + 0.8967891859432676, + -0.1050784431795439, + -0.06272498963163359 + ], + [ + 0.47339909282146925, + -0.12471267220611565, + 0.8719747979769943, + 0.08747125026347256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7610655471466828, + -0.4281960643251502, + -0.48726518800625607, + -0.07290354958651943 + ], + [ + 0.4361682204281051, + 0.8938116262373395, + -0.10420201673452663, + -0.0607745394658225 + ], + [ + 0.48014218356118243, + -0.13322502504940445, + 0.8670147497394063, + 0.08665801503242482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7526668585415099, + -0.4320242935911034, + -0.49683760908405755, + -0.08213682518720536 + ], + [ + 0.44283191809004574, + 0.890602769113071, + -0.10356930032022457, + -0.059856962750664794 + ], + [ + 0.487229404258349, + -0.1420623714965999, + 0.8616413350291502, + 0.08705560554356614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7440776943066071, + -0.4365396907099774, + -0.5057484387224551, + -0.08959728485684508 + ], + [ + 0.4492421338142692, + 0.8872329632994977, + -0.10487694713708418, + -0.05902545729457151 + ], + [ + 0.4944996360376476, + -0.14916691077323335, + 0.85628227979388, + 0.08623448137209586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7357568225525444, + -0.4424278772966816, + -0.5127567371162828, + -0.09666507337113961 + ], + [ + 0.4558320710830375, + 0.8834630666629193, + -0.1082133670795778, + -0.06127443244251813 + ], + [ + 0.5008782497169676, + -0.1541122423213135, + 0.8516867943834543, + 0.0838896531708637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7287810546445317, + -0.4464437538761249, + -0.5191976011271608, + -0.10553401538769216 + ], + [ + 0.46160067655293235, + 0.8803580936750973, + -0.10906164452557993, + -0.06407821051272275 + ], + [ + 0.5057697003548942, + -0.16017990362633783, + 0.8476670388054368, + 0.08450490538332736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7240250413983912, + -0.44868052263438135, + -0.5239022122845031, + -0.11180896713855068 + ], + [ + 0.46488961938366574, + 0.878519807710429, + -0.109911733903808, + -0.06519877785816655 + ], + [ + 0.5095737250068616, + -0.16397785237332954, + 0.8446572575392117, + 0.0838950093577288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7190981915783641, + -0.45125517856554276, + -0.5284567670931148, + -0.11970896726646316 + ], + [ + 0.468683214180899, + 0.8764130157587962, + -0.1106176774011898, + -0.06755006933214866 + ], + [ + 0.5130631887143999, + -0.1681338443810533, + 0.8417227422137648, + 0.08499118929194574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7181512236582552, + -0.4512947936150864, + -0.5297091930616906, + -0.12570436246381217 + ], + [ + 0.4693066211657355, + 0.8761348316844892, + -0.11017736627453421, + -0.06983679274626745 + ], + [ + 0.5138191464787505, + -0.16947202118670976, + 0.8409929362050195, + 0.0854920690501752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7180692211475694, + -0.45110379206589046, + -0.5299829831459659, + -0.130572439523916 + ], + [ + 0.46938716257148805, + 0.8761422543685302, + -0.10977450397572983, + -0.0717001912484099 + ], + [ + 0.5138601806460692, + -0.16994151609834465, + 0.8408731151919329, + 0.08500116517537458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7181925184518454, + -0.45066650598199676, + -0.5301878976606071, + -0.1364136089927001 + ], + [ + 0.4693047836378571, + 0.8762682607745089, + -0.10911899565997325, + -0.07433474152649056 + ], + [ + 0.5137631034770984, + -0.17045127029504936, + 0.840829256127773, + 0.08475783076550218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7185037473052716, + -0.45048724547352187, + -0.5299184906888622, + -0.14224854699426562 + ], + [ + 0.4690680098748568, + 0.8764049084806627, + -0.10903961896046264, + -0.07600290292865725 + ], + [ + 0.5135441239273643, + -0.170222436995481, + 0.8410093666083606, + 0.08480251990054952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7188725729001404, + -0.45068204941489404, + -0.5292522217876117, + -0.14883908192659895 + ], + [ + 0.46894070981124086, + 0.8764320398794716, + -0.10936859766147604, + -0.07666353488361322 + ], + [ + 0.5131440680877661, + -0.16956582735887338, + 0.8413861156320793, + 0.08538943695215764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7193262768901889, + -0.45058950815681653, + -0.5287142919519932, + -0.15444770427292054 + ], + [ + 0.46877428067115856, + 0.876537101508872, + -0.10924002682013283, + -0.07757956171574437 + ], + [ + 0.5126601029498368, + -0.169268440110446, + 0.8417409423486772, + 0.08608933648970674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7199518857276481, + -0.4502679271619606, + -0.5281364179892111, + -0.16087828373657515 + ], + [ + 0.46837909232547115, + 0.8767765421979881, + -0.10901339790919, + -0.07918582229407568 + ], + [ + 0.5121428590828648, + -0.16888365468751254, + 0.8421330079445989, + 0.08687579119632065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7203700838281498, + -0.45037072139952533, + -0.5274781091490868, + -0.1659412264980887 + ], + [ + 0.4682041001466581, + 0.8768413865657363, + -0.10924332204457873, + -0.08031185521119547 + ], + [ + 0.5117146303666555, + -0.1682717923822901, + 0.8425157214896164, + 0.08642835984224317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7207472766833041, + -0.4503636084093726, + -0.5269686739969368, + -0.16985012813404804 + ], + [ + 0.4681384631459433, + 0.8768901203232577, + -0.10913338720490932, + -0.08122583196795936 + ], + [ + 0.5112433300073018, + -0.16803671354781877, + 0.842848693671108, + 0.08543521386619024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7214195832543737, + -0.44937514800253975, + -0.5268925519067253, + -0.1741645698097721 + ], + [ + 0.4672504182905588, + 0.8774317262404038, + -0.10858458635590451, + -0.08279726218739952 + ], + [ + 0.5111074559272089, + -0.1678557182358722, + 0.8429671561520863, + 0.08448296579850795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7213357027280806, + -0.44959687797640246, + -0.5268182336286954, + -0.17876291263395103 + ], + [ + 0.46733347454994756, + 0.8773530267701726, + -0.1088627116247382, + -0.08397563417204962 + ], + [ + 0.5111499071063793, + -0.1676732349872493, + 0.8429777332373916, + 0.08360532600649333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7208461768115619, + -0.4501296885996668, + -0.5270332558931378, + -0.18302306897699452 + ], + [ + 0.4679599735865651, + 0.8770039265155232, + -0.10898429243343408, + -0.08495825825399904 + ], + [ + 0.5112673004378591, + -0.16806955797383996, + 0.8428276046650717, + 0.0834229896884009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7204113265654337, + -0.4505628776263212, + -0.5272576351854195, + -0.18904831556885207 + ], + [ + 0.46851028624410695, + 0.8767036488031111, + -0.10903588335395058, + -0.08666506049617642 + ], + [ + 0.5113762139948408, + -0.1684749402148584, + 0.8426805814066816, + 0.08357044014757677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_117/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_117/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..12ab5bf76b5a367fcbc50e474f0c9587c90b5df8 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_117/tilt_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999997229208935, + -0.0007330710859179825, + 0.0001294794173563813, + -0.0015558756909925388 + ], + [ + 0.0007330206689579367, + 0.99999965567931, + 0.0003890012346679387, + -0.001001352181314828 + ], + [ + -0.00012976453833146042, + -0.0003889062157946972, + 0.9999999159565566, + 0.0017701852795493284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999992118486265, + 0.00034488917387864073, + 0.0039552518010726265, + -0.0020623378620293464 + ], + [ + -0.00033448113841842985, + 0.9999964808518907, + -0.0026318066422447287, + 0.00011288392514770695 + ], + [ + -0.003956145563574382, + 0.002630462942499375, + 0.9999887147248153, + 0.000778328071920044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999790825486045, + 0.0011876067341730521, + 0.0063579914671472735, + -0.002514721023371513 + ], + [ + -0.0011518700222691875, + 0.9999835360040961, + -0.0056214692204830065, + 0.0008172937578899243 + ], + [ + -0.006364562883903992, + 0.005614028053900966, + 0.9999639868656807, + 0.00032632862648572053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999574545432407, + 0.001821860550637773, + 0.009042672588189594, + -0.0028158822729420817 + ], + [ + -0.0017447123501058675, + 0.9999620785695044, + -0.008532139343215724, + 0.0014305235226207136 + ], + [ + -0.009057874045191495, + 0.008515999476907652, + 0.9999227133487324, + 6.8715178587839675e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999337715300227, + 0.002775487177890837, + 0.011169119243252274, + -0.002932082366921046 + ], + [ + -0.002650883969407072, + 0.999934262446268, + -0.011155429181305462, + 0.0016312098615742052 + ], + [ + -0.01119934676333246, + 0.011125082335144509, + 0.9998753958244554, + -0.00013204925525477115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999148208030056, + 0.0033670966128312814, + 0.012610067362748828, + -0.003228758258527609 + ], + [ + -0.003191967589574363, + 0.9998985385969191, + -0.013882501743291541, + 0.0020248425272959836 + ], + [ + -0.012655531652218721, + 0.013841068316616531, + 0.9998241157055847, + -0.000267510479742752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998922621314933, + 0.0037767589119577162, + 0.014184506395584226, + -0.0035478600703872888 + ], + [ + -0.0035504988828481123, + 0.9998666038949184, + -0.015942658916427977, + 0.0019539418121818715 + ], + [ + -0.01424282581682147, + 0.015890579214226715, + 0.9997722897765212, + -0.0002032078061606598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999873844469504, + 0.0035478531397983696, + 0.015482502506784356, + -0.003889047534347829 + ], + [ + -0.003279877329731537, + 0.9998449728143627, + -0.017299501222534514, + 0.0014329242513259532 + ], + [ + -0.01554147838772342, + 0.017246538085800952, + 0.999730473364486, + -2.662379039449693e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998584658989229, + 0.0029514901817455827, + 0.016563117941991952, + -0.004114724455257213 + ], + [ + -0.002662790344769134, + 0.9998446213052108, + -0.017425349196506335, + 0.0005612307458904156 + ], + [ + -0.016611975133411457, + 0.017378778804836636, + 0.9997109683950758, + 0.0003325967863444538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998509349928771, + 0.00242809094194893, + 0.01709421446710978, + -0.004141700980340178 + ], + [ + -0.0021259815351910953, + 0.9998416265462952, + -0.017669239592335764, + -0.0003443303436132264 + ], + [ + -0.017134409717931523, + 0.017630263742694403, + 0.9996977472236205, + 0.0009254767116039729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998451944231923, + 0.001783932284889196, + 0.017504421568607462, + -0.004211571676049894 + ], + [ + -0.001473627626311063, + 0.9998418293348734, + -0.017724128579786235, + -0.0012133933740561095 + ], + [ + -0.01753327152780031, + 0.017695589786631927, + 0.9996896770956653, + 0.001999930547360339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998355389199024, + 0.0011837290516283484, + 0.018096792485989537, + -0.004451845416481397 + ], + [ + -0.0008358143634266282, + 0.9998149158841289, + -0.01922070211939656, + -0.0015019051334796063 + ], + [ + -0.018116195160643587, + 0.019202415502874028, + 0.9996514746209085, + 0.0030572484390131924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998260126761453, + 0.0007126224352886578, + 0.018639649819288593, + -0.004662847497676916 + ], + [ + -0.0003043994079758963, + 0.9997602411637788, + -0.021894463435846032, + -0.0015427248378123597 + ], + [ + -0.01865078328439334, + 0.021884980178375722, + 0.9995865124767697, + 0.0036383833444894095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998140323318156, + 0.0002354317491972127, + 0.01928329132401364, + -0.004869636222405988 + ], + [ + 0.0002374366095871881, + 0.9996994040847254, + -0.024516221089338413, + -0.0016325037452833656 + ], + [ + -0.019283266742223363, + 0.024516240424183388, + 0.9995134364175461, + 0.004057760925138683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998071971987831, + -0.0006800693000608563, + 0.019624116165091642, + -0.004982239857794643 + ], + [ + 0.0012026256893120178, + 0.999644667891464, + -0.02662877480502052, + -0.0019387754348779282 + ], + [ + -0.019599033674273413, + 0.02664724116887532, + 0.9994527514680837, + 0.0042883019652792155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998036833217174, + -0.0008748183094958407, + 0.019794683863407058, + -0.005042124115412633 + ], + [ + 0.0014486879516222744, + 0.999578496375659, + -0.028995359742472138, + -0.0020504498779475595 + ], + [ + -0.019760974660822817, + 0.029018343789780975, + 0.9993835297843127, + 0.0045893083172201836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998059652319625, + -0.0016689707491352626, + 0.019627695311039473, + -0.0050271639342068675 + ], + [ + 0.002297044559692486, + 0.9994845732097425, + -0.032020485661996334, + -0.0020557124251192665 + ], + [ + -0.01956413741710217, + 0.03205935826522197, + 0.999294472152602, + 0.004432173502712701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998340655098055, + -0.003938571421326202, + 0.01778564312284356, + -0.004775157914853629 + ], + [ + 0.00455750677632972, + 0.9993806146317331, + -0.03489435814402257, + -0.0023344878696766923 + ], + [ + -0.01763719303397648, + 0.034969626155547016, + 0.9992327329848756, + 0.00458678122836285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998595422400669, + -0.006364624570092176, + 0.01550442986909707, + -0.004027030881873358 + ], + [ + 0.006954982129858356, + 0.9992411148855492, + -0.038325220754199966, + -0.0022643265454091854 + ], + [ + -0.015248738146394976, + 0.0384276707122171, + 0.9991450295670675, + 0.004974856779944772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99987443608058, + -0.01163675796884462, + 0.010756297528282785, + -0.0033039662315163167 + ], + [ + 0.012078910087725148, + 0.9990446395027369, + -0.041998907270777035, + -0.0024623388142006176 + ], + [ + -0.010257290267661475, + 0.042123558074089705, + 0.9990597548953436, + 0.005340224771885211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997761041026628, + -0.02106426547529272, + 0.0020095734094974535, + -0.0018369396100801879 + ], + [ + 0.02113540475697324, + 0.9986737559388773, + -0.04694703254407949, + -0.0022880686834515942 + ], + [ + -0.0010180034679120199, + 0.046978994443499296, + 0.9988953587588728, + 0.005601506191790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994886910101493, + -0.031017792615094807, + -0.007762286010265579, + -0.00017282752035212745 + ], + [ + 0.03056576751965475, + 0.9981370692008695, + -0.05280269825522893, + -0.0031638539398784107 + ], + [ + 0.009385648552583515, + 0.05253843953131181, + 0.9985747953823298, + 0.007128460169108228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9988076376054958, + -0.0436834006062732, + -0.021795953119795104, + 0.0010003402976231156 + ], + [ + 0.04228832853711073, + 0.9972529202821753, + -0.06081373412487439, + -0.006684663510725983 + ], + [ + 0.02439262860918933, + 0.05981950768892517, + 0.9979111313986777, + 0.013394236876894752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9977950599948672, + -0.055706385813016714, + -0.036080698849817204, + 0.002231780132736288 + ], + [ + 0.05307690302448549, + 0.9961242733138929, + -0.07013753973585289, + -0.010929633124403867 + ], + [ + 0.03984796877093278, + 0.06806783891472029, + 0.996884601491221, + 0.020570934902889686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9967711609903872, + -0.06501655072188368, + -0.04711794509637146, + 0.003781272155430645 + ], + [ + 0.06116766169204137, + 0.9949981459705568, + -0.07897598798548176, + -0.0139792359901514 + ], + [ + 0.05201701434150103, + 0.07583889270937248, + 0.995762367521294, + 0.025290962582676806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.99527087117381, + -0.07619567148180381, + -0.06025041610115589, + 0.0053736135112922535 + ], + [ + 0.0706292048739888, + 0.9934642928595059, + -0.08966724168853409, + -0.0178604111943626 + ], + [ + 0.06668889271680488, + 0.08498775476854828, + 0.994147711925953, + 0.031294350373072224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9935092951421057, + -0.08756382670117989, + -0.07260755277298699, + 0.006200606929062828 + ], + [ + 0.0800680557319596, + 0.991719376195793, + -0.10040809394232794, + -0.021564483638679178 + ], + [ + 0.08079843388049154, + 0.09394282905721585, + 0.9922934837794647, + 0.0376259557180521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.991316141295645, + -0.10004259128691492, + -0.08534511078739276, + 0.007051313967588662 + ], + [ + 0.09030636441049124, + 0.9896884922270714, + -0.11118205295939608, + -0.025395290943083598 + ], + [ + 0.09558801469678407, + 0.10250935704561652, + 0.9901286599045712, + 0.04404141567182402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9891914207329556, + -0.1108705402601978, + -0.09595861842861719, + 0.0076420029142957036 + ], + [ + 0.09904950137260567, + 0.9877912786577475, + -0.12023970261744094, + -0.02899870426544092 + ], + [ + 0.10811812718575586, + 0.1094354289528958, + 0.988096330052764, + 0.04928407052051044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9859625503860683, + -0.12593640368604517, + -0.10962605284705544, + 0.008263935187175036 + ], + [ + 0.11128709068831405, + 0.9851414726010636, + -0.13081078857471568, + -0.0327544641228428 + ], + [ + 0.12447101141362552, + 0.11677457423614723, + 0.9853276947948005, + 0.05535473868658157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9822249293180998, + -0.14127951764872176, + -0.12358918285593858, + 0.008305738712841768 + ], + [ + 0.12344936102633268, + 0.9821873879192351, + -0.14166224011563686, + -0.037391079560970264 + ], + [ + 0.14140170963692156, + 0.12388717813129288, + 0.9821698038559429, + 0.06303752203368364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9791383610064999, + -0.1525651717403017, + -0.1342085629807471, + 0.007017830337928174 + ], + [ + 0.13197310474727106, + 0.9797038982136622, + -0.1508753506982496, + -0.04236220967078969 + ], + [ + 0.15450297611654845, + 0.13001592285872612, + 0.9794001685594725, + 0.07077024465885379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9753804545986663, + -0.16626451447236024, + -0.14487608503189658, + 0.007347108882615945 + ], + [ + 0.1426561005967429, + 0.9766825390047782, + -0.16043832137526254, + -0.04572558921876495 + ], + [ + 0.1681731421762434, + 0.13582094547767798, + 0.9763557061952979, + 0.07508509206035502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9721673017673382, + -0.17688816458193876, + -0.1536271935734242, + 0.006257480936063096 + ], + [ + 0.1506469139876593, + 0.9741495417251725, + -0.16833947149326356, + -0.049833473112826765 + ], + [ + 0.1794331203552125, + 0.14051066716612465, + 0.9736839876120602, + 0.08075361896102257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9697238446386603, + -0.18499173474719, + -0.15941682224420922, + 0.0053212021674413496 + ], + [ + 0.15675909893738954, + 0.9720998680021693, + -0.1744947894078892, + -0.05228763086625438 + ], + [ + 0.18724916565783203, + 0.1442217206435674, + 0.9716675590216313, + 0.08470447836246828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9664522982296577, + -0.19601107162960316, + -0.16598076709434625, + 0.005175921454372295 + ], + [ + 0.16547561388401077, + 0.969408173306807, + -0.18128876064353724, + -0.05388972623582845 + ], + [ + 0.19643771648113512, + 0.14774117003927692, + 0.9693218094209493, + 0.08718898726177576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9632353987128294, + -0.2057060875798674, + -0.1728079054879168, + 0.004480328077937955 + ], + [ + 0.1728924354588701, + 0.9669604752469138, + -0.18733831714671553, + -0.056608746332772374 + ], + [ + 0.20563504669106697, + 0.15057371896465482, + 0.9669755853844068, + 0.09107398034670337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9602615901047916, + -0.21446218280389653, + -0.1786159307464076, + 0.00402292215654565 + ], + [ + 0.1796612730081267, + 0.9647205103143744, + -0.19244782139549585, + -0.05851515665771849 + ], + [ + 0.21358723171228372, + 0.1527098854880108, + 0.9649146000158367, + 0.09376951300252205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9562019238916906, + -0.22574540640285395, + -0.1863246957164842, + 0.0030356356105570464 + ], + [ + 0.18856492568147967, + 0.961942526063632, + -0.19776209281117899, + -0.06120723063425184 + ], + [ + 0.22387753247829087, + 0.15396619121849323, + 0.9623789598765669, + 0.09737058429589919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.952222692151838, + -0.23604286046939002, + -0.19379296316567893, + 0.001205647551010105 + ], + [ + 0.19660025112033677, + 0.9593479496626013, + -0.20248420367422187, + -0.0647288165494769 + ], + [ + 0.23370983250716398, + 0.15471030831716198, + 0.9599189729815127, + 0.10210702940819597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9487875738798732, + -0.24464416650311283, + -0.19987839164637483, + -8.851903659779642e-05 + ], + [ + 0.20322604054816087, + 0.957059237873624, + -0.20672878765154035, + -0.0672442095714216 + ], + [ + 0.24187045312369532, + 0.15552121076160508, + 0.9577639776630685, + 0.10508442121691657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9466289092532629, + -0.25036317960696525, + -0.20300735568709835, + -0.0007033425720457287 + ], + [ + 0.20748339521962722, + 0.9552925505674142, + -0.21063424113505458, + -0.0681367505889554 + ], + [ + 0.24666647294294697, + 0.1572718065245478, + 0.9562537477042333, + 0.1059632631893858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9445980262912909, + -0.2557027597699536, + -0.20579277774651614, + -0.001459911407240655 + ], + [ + 0.2113939209282486, + 0.9535678845704108, + -0.21452482306365644, + -0.0687201618665889 + ], + [ + 0.2510919730321521, + 0.1591363822698666, + 0.9547923506799161, + 0.1067202435990836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9425077292268209, + -0.26090128451971734, + -0.20882935637420144, + -0.0018176408287825976 + ], + [ + 0.2152550969553127, + 0.9519560028349285, + -0.2178187592961281, + -0.06889112090777909 + ], + [ + 0.2556255534614265, + 0.1603442808537529, + 0.9533862218508469, + 0.10655980862408107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9399725971532743, + -0.26719251606035505, + -0.21227264534618087, + -0.0019277735671951242 + ], + [ + 0.2202332572797664, + 0.950142089325373, + -0.2207426612151788, + -0.06875471299203263 + ], + [ + 0.2606699618077864, + 0.16074255644897492, + 0.9519522055005574, + 0.10578619339464619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9348481011783107, + -0.2788312590828204, + -0.2198002654265834, + -0.002671582600321057 + ], + [ + 0.22988362381691518, + 0.947141524380281, + -0.22377768498087813, + -0.06947189272847361 + ], + [ + 0.2705781721131816, + 0.15866966235826926, + 0.9495321958854279, + 0.10654898985795358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9278473274022462, + -0.29346732483675575, + -0.23016573655882733, + -0.00338746094378447 + ], + [ + 0.242361961035821, + 0.9435016567485542, + -0.22597633406090295, + -0.07081263962153374 + ], + [ + 0.28347842400327505, + 0.15388811833891441, + 0.9465508069611097, + 0.10723249285807458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9214325691485451, + -0.3057320067983058, + -0.23977064151265956, + -0.005208450345074719 + ], + [ + 0.25302642800805847, + 0.9404887411458916, + -0.22684478064813185, + -0.07224458085696739 + ], + [ + 0.2948552988192588, + 0.14835386006739737, + 0.9439552346172506, + 0.10978079188369959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9112857823062217, + -0.3235378500336737, + -0.2547184378134525, + -0.009795954255382176 + ], + [ + 0.26887048073696124, + 0.9360396288602467, + -0.2270208752327566, + -0.07448382053038277 + ], + [ + 0.3118763978803349, + 0.13839462705885502, + 0.9399893827306921, + 0.11406116788604617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8977832943049465, + -0.34622236624127245, + -0.27224112397147626, + -0.01518378128420612 + ], + [ + 0.2890243927806705, + 0.9295294159007172, + -0.22899774093435254, + -0.07575890397970307 + ], + [ + 0.3323402726795584, + 0.12690602069865053, + 0.934582690330669, + 0.1205461537740392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.886283463507395, + -0.3649101336509875, + -0.2852055691464571, + -0.020672487253301557 + ], + [ + 0.30486286557800496, + 0.9232339911461493, + -0.2338752461974528, + -0.07689964609227837 + ], + [ + 0.34865492324776276, + 0.12033117613972842, + 0.9294945683240577, + 0.12511344732242907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8716423020934982, + -0.387519991370585, + -0.30011323444541566, + -0.029422263522987956 + ], + [ + 0.3240824357490039, + 0.9150139217198336, + -0.24025007366884044, + -0.07647994919401233 + ], + [ + 0.36770949408485504, + 0.11215069927125844, + 0.9231532638802877, + 0.13201651890679272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8563602831471276, + -0.40915354935878256, + -0.3150245045949312, + -0.03704248972339074 + ], + [ + 0.34252778932071276, + 0.9066223432474098, + -0.24639529270593072, + -0.07641375522284168 + ], + [ + 0.38642176309213866, + 0.10309849548701569, + 0.9165418273254511, + 0.13616306172853243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.843124802554053, + -0.42672880763752646, + -0.3271744061665648, + -0.044605903057472834 + ], + [ + 0.35774660944827513, + 0.8994053004932437, + -0.25117218968851096, + -0.07646067213360992 + ], + [ + 0.40144480410942274, + 0.09472396833385353, + 0.910971700480665, + 0.14008242897295564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8251095326023672, + -0.4490261677861267, + -0.3428844701236975, + -0.054827499414679515 + ], + [ + 0.377513404159728, + 0.8897152050684141, + -0.256691416977281, + -0.07644405298907322 + ], + [ + 0.420330689919779, + 0.08235505153526203, + 0.9036258941609561, + 0.14444640650407345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8072757088999799, + -0.46980904871890306, + -0.3571909679175488, + -0.06414091524036801 + ], + [ + 0.3957316347804449, + 0.8799138927500012, + -0.262960100736855, + -0.07670388069902495 + ], + [ + 0.43783832981367976, + 0.07092953607193368, + 0.8962514144248747, + 0.14725320250276341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7956734913691051, + -0.48289343620670483, + -0.36567420527155053, + -0.07177142498706991 + ], + [ + 0.40688302668301946, + 0.8733089261801081, + -0.2679136466315445, + -0.0762258079192817 + ], + [ + 0.44872028896603755, + 0.06438515917995347, + 0.8913499052266781, + 0.14962469758096789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7859411963077104, + -0.4933526988795482, + -0.3726922999669715, + -0.08075220619737541 + ], + [ + 0.41586072895259335, + 0.8678488694277989, + -0.2718422225260625, + -0.07479448512320676 + ], + [ + 0.45755468532342997, + 0.05866391003979698, + 0.8872441916391562, + 0.15239508307726807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7795561924626204, + -0.5001558953535339, + -0.3770095796346383, + -0.08729804021399744 + ], + [ + 0.42144923185291167, + 0.8641568235127199, + -0.2749791434763673, + -0.07396474695719424 + ], + [ + 0.4633278404799052, + 0.055471296356862064, + 0.8844491209316208, + 0.15299607610868998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7738018373857269, + -0.5055124979636533, + -0.38169075291526355, + -0.09424741425048469 + ], + [ + 0.42604754716565846, + 0.8612701429329209, + -0.2769426446873655, + -0.07263267871544445 + ], + [ + 0.4687368174280737, + 0.051680318254184496, + 0.8818247789059611, + 0.15277906813755193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7688729558006545, + -0.5096420481958089, + -0.3861338635099826, + -0.10098200469828138 + ], + [ + 0.4297995774243791, + 0.8590578458811019, + -0.2780142814244375, + -0.07060587287009938 + ], + [ + 0.47339909282146925, + 0.0477974909477689, + 0.8795502821185996, + 0.15286936011174715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7610655471466828, + -0.5163169178349564, + -0.3926780784608828, + -0.11005752017199645 + ], + [ + 0.4361682204281051, + 0.855398812243733, + -0.27937457919537095, + -0.06871994324183016 + ], + [ + 0.48014218356118243, + 0.0413486682907882, + 0.8762155962978964, + 0.15276788970005456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7526668585415099, + -0.5232777830783438, + -0.3995909931290599, + -0.12064173989121982 + ], + [ + 0.44283191809004574, + 0.851464442926642, + -0.2809060247704097, + -0.0678835835254822 + ], + [ + 0.487229404258349, + 0.034477009270479975, + 0.8725931717918822, + 0.1538328090083253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7440776943066071, + -0.530826543095576, + -0.4056742116286963, + -0.12942497440623843 + ], + [ + 0.4492421338142692, + 0.8469744920425999, + -0.2842810493775177, + -0.0672845168816169 + ], + [ + 0.4944996360376476, + 0.029281239290389158, + 0.8686844760810759, + 0.15366671090586392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7357568225525445, + -0.5393678868675434, + -0.40956584413672154, + -0.13768561234044224 + ], + [ + 0.45583207108303764, + 0.8416584548746671, + -0.289530945341146, + -0.06993150180888436 + ], + [ + 0.5008782497169677, + 0.026331121397121647, + 0.8651171313795826, + 0.15202459672154006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7287810546445317, + -0.5459904049199847, + -0.413246478661967, + -0.14771882047927398 + ], + [ + 0.46160067655293235, + 0.8374923878226019, + -0.29245737423609625, + -0.07293946913042612 + ], + [ + 0.5057697003548942, + 0.022382539500871754, + 0.8623781259565972, + 0.1533778522862691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7240250413983912, + -0.5505328655260794, + -0.41557346330546885, + -0.15503089965202219 + ], + [ + 0.46488961938366574, + 0.8345530836312842, + -0.2956328675753515, + -0.07426649590523071 + ], + [ + 0.5095737250068616, + 0.02084981000293776, + 0.8601743452379134, + 0.15357923310471377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7190981915783642, + -0.5553935291093515, + -0.41765514326078473, + -0.16396722151051152 + ], + [ + 0.4686832141808991, + 0.8313712605713525, + -0.2985931543774274, + -0.0768142998144983 + ], + [ + 0.5130631887144, + 0.018969842367838906, + 0.858141194365328, + 0.15548546895234855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7181512236582552, + -0.5570723714539729, + -0.41704819016607386, + -0.17072964387405587 + ], + [ + 0.4693066211657355, + 0.8302155176792709, + -0.3008213581754819, + -0.07920186887960286 + ], + [ + 0.5138191464787505, + 0.02031174948613538, + 0.8576580423132877, + 0.15697646862760187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7180692211475694, + -0.558309318507814, + -0.41553254807278794, + -0.17628347182025558 + ], + [ + 0.46938716257148805, + 0.8293240686850302, + -0.30314564274090333, + -0.0811682422163166 + ], + [ + 0.5138601806460692, + 0.022633911881253372, + 0.8575753149311968, + 0.1575264713606788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7181925184518454, + -0.5592868220140388, + -0.4140021221699624, + -0.18280505003800324 + ], + [ + 0.4693047836378571, + 0.8285991530791509, + -0.3052481999474163, + -0.08388265364673822 + ], + [ + 0.5137631034770984, + 0.024933797102539547, + 0.8575696935337848, + 0.15833039067668234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7185037473052716, + -0.5604021658771132, + -0.4119487560225463, + -0.18927881304290214 + ], + [ + 0.4690680098748568, + 0.8277470488885851, + -0.30791236605287564, + -0.08568016911139831 + ], + [ + 0.5135441239273643, + 0.02800420569270492, + 0.8576060851248649, + 0.15944210118704152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7188725729001404, + -0.5617811460009776, + -0.40941930576092833, + -0.19647178188748401 + ], + [ + 0.46894070981124086, + 0.8266845607760817, + -0.3109457310467316, + -0.08650670867314605 + ], + [ + 0.5131440680877661, + 0.03153697785592379, + 0.8577229065461951, + 0.16111418735904479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7193262768901889, + -0.562900755602092, + -0.4070779369087609, + -0.20269288341353991 + ], + [ + 0.46877428067115856, + 0.8257950696901369, + -0.31354932093165105, + -0.08754771416308149 + ], + [ + 0.5126601029498368, + 0.03471659859570785, + 0.8578894897511026, + 0.16289819747902354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7199518857276482, + -0.5637791241439835, + -0.4047497763021572, + -0.20973090240057718 + ], + [ + 0.46837909232547126, + 0.8250513626911968, + -0.31608744801679045, + -0.08926956160067576 + ], + [ + 0.5121428590828649, + 0.037991421411186346, + 0.858059638830301, + 0.16477309443119606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7203700838281499, + -0.5650404011373911, + -0.4022390923417578, + -0.2153922992308156 + ], + [ + 0.4682041001466582, + 0.824019587019581, + -0.31902451444040786, + -0.09055341665287472 + ], + [ + 0.5117146303666557, + 0.041485723936990175, + 0.8581532915383717, + 0.16541420873189472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7207472766833042, + -0.5662214043049006, + -0.39989584201462625, + -0.21991215216375704 + ], + [ + 0.46813846314594343, + 0.8230454663938799, + -0.32162484290215354, + -0.09159350375242575 + ], + [ + 0.5112433300073019, + 0.04460360473624254, + 0.8582777965015629, + 0.1655058397649455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7214195832543738, + -0.5665508021056559, + -0.3982134773341101, + -0.22487797793079442 + ], + [ + 0.4672504182905589, + 0.8226498775574524, + -0.3239200913219283, + -0.09324852862415534 + ], + [ + 0.511107455927209, + 0.0476168834358833, + 0.8581968310984782, + 0.16561855457814625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7213357027280806, + -0.5680466976672227, + -0.39622941995660754, + -0.23012769041274883 + ], + [ + 0.46733347454994756, + 0.8214390746460691, + -0.3268597102881963, + -0.0945897485554616 + ], + [ + 0.5111499071063793, + 0.05060430726700116, + 0.858000569085573, + 0.16579565499713902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.720846176811562, + -0.5699103873805657, + -0.39444003312530085, + -0.2350676029964419 + ], + [ + 0.4679599735865652, + 0.8199964504045394, + -0.3295743989523723, + -0.09572045713180065 + ], + [ + 0.5112673004378592, + 0.05299029797698636, + 0.8577865560984823, + 0.16665221564907673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7204113265654337, + -0.5716746375280881, + -0.392677513187808, + -0.241774079087394 + ], + [ + 0.46851028624410695, + 0.8186101331692069, + -0.3322281769449401, + -0.09756864883157147 + ], + [ + 0.5113762139948408, + 0.055367487570075855, + 0.8575714600431152, + 0.16783849828824493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 663.2141621907551, + "fy": 663.2140731811523, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_147/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_147/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..95cbe65e9f36555b25a9c5d5bc30de9ff44ff7ed --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_147/move_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999733907267, + 0.00016305321680770265, + 0.0001631937335389221, + -0.00013954756404016463 + ], + [ + -0.00016305278350277398, + 0.9999999867033346, + -2.6684577355547613e-06, + -7.940342630422712e-05 + ], + [ + -0.00016319416646960733, + 2.641848472045308e-06, + 0.9999999866803423, + 6.860529495497238e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999822380186828, + 0.0004479539891536711, + -0.005943314258109802, + -0.0014437409256105296 + ], + [ + -0.0004453949987869679, + 0.999999807550249, + 0.00043188280885774724, + -0.0007116230380819192 + ], + [ + 0.005943506577947525, + -0.00042922801531658354, + 0.9999822450888163, + 0.015836507997799645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999915366079449, + 0.0007792940860544729, + -0.012986661577517454, + -0.0027899222616593776 + ], + [ + -0.0007682575405504685, + 0.9999993395449395, + 0.0008548040923888751, + -0.0013208772869419119 + ], + [ + 0.01298731914418503, + -0.0008447546462837283, + 0.9999153043788432, + 0.031445899311235107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996433124187912, + 0.0014257709627377754, + -0.026668616641079834, + -0.004813660169976327 + ], + [ + -0.0013922337405458446, + 0.9999982166517122, + 0.0012760793890860018, + -0.0018947098974135667 + ], + [ + 0.02667038847858711, + -0.0012384952795138845, + 0.9996435147130421, + 0.04866781739728832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991495545900193, + 0.002521263777262652, + -0.04115593264077021, + -0.006452193982187032 + ], + [ + -0.0024404586449084933, + 0.9999949949517211, + 0.0020135126297186265, + -0.001766685779733101 + ], + [ + 0.04116080324979875, + -0.0019113608955423046, + 0.9991507068382419, + 0.06321855876670104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9982848627335549, + 0.004167815627489924, + -0.058394881196412576, + -0.008174803763356971 + ], + [ + -0.0039911170318053775, + 0.9999870986049908, + 0.0031422298469557866, + -0.0010203891468048623 + ], + [ + 0.05840722405564505, + -0.002903779686532282, + 0.9982886177061452, + 0.07756395472604331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9970427876882603, + 0.006629944342934896, + -0.07656189232792185, + -0.009657439193478739 + ], + [ + -0.006296643640149993, + 0.999969623590832, + 0.004593928001042879, + -0.0008902320345892922 + ], + [ + 0.07659002413951618, + -0.004098259828194491, + 0.9970542475054649, + 0.09270698894526401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9954153590123908, + 0.009514100418600721, + -0.09517218572386546, + -0.011024068428178496 + ], + [ + -0.00896075204459473, + 0.9999403826343046, + 0.006239879802998032, + -0.0010722770111527443 + ], + [ + 0.09522587865191084, + -0.005358457836481776, + 0.9954412684656921, + 0.10827319407258325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9930203258067878, + 0.012400843630170064, + -0.11728960572804985, + -0.011824943363213632 + ], + [ + -0.011531195312370155, + 0.9999007847923482, + 0.008090247605255547, + -0.0025217335873753514 + ], + [ + 0.11737829471094426, + -0.006681290961067415, + 0.9930647996388979, + 0.1251990693409882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9905949898940153, + 0.014815808490666486, + -0.1360222695577593, + -0.011940437061252366 + ], + [ + -0.013629466030258545, + 0.9998605587176013, + 0.00964887437250614, + -0.0036658755232865784 + ], + [ + 0.13614625831291094, + -0.007704215709225191, + 0.990658791616821, + 0.13946018498840188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.987997811796151, + 0.017198334883607395, + -0.15350746289105613, + -0.010771170764386509 + ], + [ + -0.015698007189451826, + 0.9998164842374662, + 0.010980456152314345, + -0.003408466832931197 + ], + [ + 0.15366813741403126, + -0.008438905394911846, + 0.9880864782089868, + 0.1530984865253768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9852136960384967, + 0.01949613317323784, + -0.17021713759036122, + -0.00972139363756625 + ], + [ + -0.017635741597265747, + 0.9997671508338573, + 0.012434819333862708, + -0.0029877320695500973 + ], + [ + 0.17041993356552826, + -0.009249048861515993, + 0.9853281186176909, + 0.16694213703117572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.982419719998149, + 0.021613916078190663, + -0.1854301280550811, + -0.008899576368338179 + ], + [ + -0.019334614916535094, + 0.9997137576232962, + 0.014091681402128646, + -0.0022348610596758947 + ], + [ + 0.1856816265137403, + -0.010258725577513563, + 0.982556406586786, + 0.18114958130256115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9801557485282995, + 0.022922839070845268, + -0.19689909109963272, + -0.008524687422573111 + ], + [ + -0.020324133981015, + 0.9996777562367237, + 0.015208986272321513, + -0.0018426525773043976 + ], + [ + 0.19718427474028216, + -0.010905371815854908, + 0.9803057863037977, + 0.19564682345645454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9782823899464227, + 0.023495161210228335, + -0.20594062960091378, + -0.008807995658489241 + ], + [ + -0.02066934772998165, + 0.9996605224958771, + 0.015862466002712017, + -0.0017988325529224608 + ], + [ + 0.2062434085859048, + -0.011261312666624352, + 0.9784359147393824, + 0.21284128055843513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9771274966908243, + 0.023812896876509566, + -0.2113168264788015, + -0.009419159425285446 + ], + [ + -0.02087837918503927, + 0.9996522610092362, + 0.016107462299434005, + -0.0008434753344644694 + ], + [ + 0.21162690871750905, + -0.011327091483284212, + 0.9772848860517594, + 0.22777939994843502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9760483726535978, + 0.02409582726591186, + -0.2162150904738963, + -0.010141187116894507 + ], + [ + -0.021069791287969843, + 0.9996452869236986, + 0.016290003877169924, + 0.00029583152398495805 + ], + [ + 0.2165309172735968, + -0.01134422494523799, + 0.9762098495841184, + 0.24275907311482667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9749761942050246, + 0.02451171344446163, + -0.22095383372438493, + -0.011728786127983778 + ], + [ + -0.02138201955399903, + 0.9996344608943395, + 0.01654550791834524, + 0.0012679283547992657 + ], + [ + 0.22127862520650055, + -0.01140703714819149, + 0.9751439122151259, + 0.2580698543818868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9738942708238995, + 0.024904250367823573, + -0.22563184077164714, + -0.013206575240266659 + ], + [ + -0.021669630374697046, + 0.999623997367376, + 0.016801517987744517, + 0.0017965527361655546 + ], + [ + 0.22596543181603942, + -0.011473543519124985, + 0.9740677499144018, + 0.2733565695269536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9726836679157351, + 0.02522474534703976, + -0.23076003638448606, + -0.014478013611787154 + ], + [ + -0.021867369652746323, + 0.9996147042049612, + 0.017095650958604706, + -0.00016537060143647763 + ], + [ + 0.23110235895477677, + -0.011582545463122028, + 0.9728604958194842, + 0.29094817284996194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.971734131343637, + 0.0255219454486319, + -0.2346942868549305, + -0.013983654722675543 + ], + [ + -0.022121205402942323, + 0.9996088434873552, + 0.01711175892165781, + -0.0012013941212377656 + ], + [ + 0.23503921003387535, + -0.011436359665083898, + 0.9719186074071545, + 0.3057438231917131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9708799249084604, + 0.025840251394237578, + -0.23816895855174924, + -0.012078306490967916 + ], + [ + -0.022460926333846342, + 0.9996050032771044, + 0.01689213460772934, + -0.0015882444231485925 + ], + [ + 0.23851137959847485, + -0.011050738946456126, + 0.9710768265028106, + 0.3202136307328923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9700542060949893, + 0.02630396376906547, + -0.24146001475908166, + -0.00932403690216858 + ], + [ + -0.022974021957934382, + 0.9995982973436227, + 0.01659633281200474, + -0.0012195603907171463 + ], + [ + 0.24179956896673035, + -0.010552034768999177, + 0.9702688405847821, + 0.334527848454625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9692378510068141, + 0.026839306145745433, + -0.24465821020621376, + -0.006146425671509279 + ], + [ + -0.023574453321046376, + 0.9995897847311758, + 0.01626368382918589, + -0.000474094279476812 + ], + [ + 0.24499435366209305, + -0.009995694407937268, + 0.9694729768111108, + 0.3487679958714537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9685553937584945, + 0.027100193019712986, + -0.24731766770617436, + -0.002422165346169354 + ], + [ + -0.023895936635633806, + 0.999587221686965, + 0.015948995342650856, + -0.001212493737643563 + ], + [ + 0.24764780118877122, + -0.009537598147774117, + 0.9688031795921905, + 0.36416553805531987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9678135422017001, + 0.027281630571947196, + -0.2501852516922892, + 0.001659360884616455 + ], + [ + -0.024159294771335656, + 0.9995872836032842, + 0.015543195770478285, + -0.0023213953968274988 + ], + [ + 0.250506039861617, + -0.008998616112686254, + 0.9680732146387001, + 0.38208194202783785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9673238982728881, + 0.027138660258507658, + -0.2520872248836043, + 0.004364575452274831 + ], + [ + -0.024142205085109166, + 0.9995964076813447, + 0.014972497593244259, + -0.002791249008968602 + ], + [ + 0.25239181794141446, + -0.00839731325630246, + 0.9675886808795894, + 0.39609255553993056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.966845522322616, + 0.026982873386779627, + -0.2539323935784902, + 0.006871885708339243 + ], + [ + -0.02412957040837107, + 0.9996059140440533, + 0.014345049322346485, + -0.002761618697036184 + ], + [ + 0.2542193930380129, + -0.007742167134989403, + 0.967115587223905, + 0.4102087572746385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9663938108825716, + 0.026802510687709346, + -0.25566506939489364, + 0.008984812290290634 + ], + [ + -0.024124867059385286, + 0.9996163853296194, + 0.013604152671632841, + -0.0017330512820268765 + ], + [ + 0.25593161797094854, + -0.006979083133287253, + 0.9666696950465506, + 0.4245311669475574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9659661639904705, + 0.026736822965999725, + -0.2572829421536147, + 0.010797603668463919 + ], + [ + -0.02422393873016737, + 0.9996229083435947, + 0.012932204262628196, + -0.0014527682963606128 + ], + [ + 0.25753168895872325, + -0.006259665516465812, + 0.9662495773710276, + 0.439316455270999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9654957386762748, + 0.02679414797133703, + -0.2590367777603107, + 0.012361247315098748 + ], + [ + -0.024460347636050386, + 0.9996260013106951, + 0.012229018648845796, + -0.001994168133718609 + ], + [ + 0.259267564480168, + -0.005470935759113787, + 0.9657900387094711, + 0.45705183926002085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9652416004581222, + 0.026914761408917433, + -0.25996970662626073, + 0.014364613642781101 + ], + [ + -0.02465993844591943, + 0.9996246914261742, + 0.011931627171928375, + -0.0031368129487094735 + ], + [ + 0.26019327466498143, + -0.005106065944294441, + 0.9655430533692874, + 0.4711417693529933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9650169315295966, + 0.02704957469600656, + -0.2607885012226718, + 0.016465707688687665 + ], + [ + -0.024858978243156023, + 0.9996225529895277, + 0.01169541599967762, + -0.004414700962393873 + ], + [ + 0.2610064234112038, + -0.004803338783011379, + 0.96532511356259, + 0.48500149915815144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9650895408173908, + 0.027005334845696765, + -0.2605242600886718, + 0.019099955003718232 + ], + [ + -0.02492836842050768, + 0.999625668019547, + 0.0112738761908277, + -0.0038950939358873334 + ], + [ + 0.2607311923279789, + -0.004385855258267443, + 0.9654014758746148, + 0.49778096813365236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9652052390573224, + 0.02699340427180143, + -0.26009652558639823, + 0.02179470372709462 + ], + [ + -0.02503626918532616, + 0.9996278216643837, + 0.010835284020218768, + -0.003349312663904075 + ], + [ + 0.26029220449636353, + -0.003946426274240102, + 0.9655218247134991, + 0.5107082356438742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9655906643392739, + 0.027167894204334013, + -0.25864372110171546, + 0.02508997071837165 + ], + [ + -0.02538690912290758, + 0.9996254179002266, + 0.010223929429655465, + -0.002554257274962238 + ], + [ + 0.2588246004266694, + -0.0033059661673189703, + 0.9659186802219303, + 0.5265995087409179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9660197717855016, + 0.027215515827368066, + -0.25703135259679555, + 0.0278547287253536 + ], + [ + -0.02558545727516738, + 0.9996257254171345, + 0.009684702385137935, + -0.0026908471503784455 + ], + [ + 0.2571987264655651, + -0.002779349297657654, + 0.9663545365557993, + 0.5404578710112546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.966545950773806, + 0.02716138260795041, + -0.2550513366708441, + 0.030387596255789774 + ], + [ + -0.02568171762537766, + 0.9996284731950649, + 0.00913044125517653, + -0.003640573776942263 + ], + [ + 0.2552045736709476, + -0.0022748346156132335, + 0.9668844040033441, + 0.554505889674858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9672380502718209, + 0.027090143634600126, + -0.25242162788521894, + 0.031890939631699575 + ], + [ + -0.025787450073117238, + 0.9996315805252843, + 0.008468213226484873, + -0.003484633787816332 + ], + [ + 0.2525580359543004, + -0.0016814679240062112, + 0.9675802866638652, + 0.5683324130409422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9680069083702499, + 0.027011630762771854, + -0.24946542275635386, + 0.03288039482502043 + ], + [ + -0.025896465672194988, + 0.9996345746786208, + 0.007751785135170043, + -0.0027759395878385286 + ], + [ + 0.24958365013189365, + -0.0010435088062368857, + 0.9683526799034595, + 0.5820435766517108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9690090005418956, + 0.026489798164273087, + -0.24560099238808614, + 0.033918102274937106 + ], + [ + -0.025638947939276787, + 0.9996490711855756, + 0.006661743494258082, + -0.0013858516501086967 + ], + [ + 0.24569127216359093, + -0.00015833834756464422, + 0.9693481179182245, + 0.5978343175619303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9698951692332437, + 0.02599761470878593, + -0.24213113126459193, + 0.03490221512054085 + ], + [ + -0.025364948433170335, + 0.9996618343902298, + 0.005730292710097366, + -0.0005203417125521111 + ], + [ + 0.24219822478498917, + 0.0005838604407756632, + 0.9702266121984006, + 0.6115350567618849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.970883436920589, + 0.02557808832611383, + -0.2381829408476737, + 0.035428881301764255 + ], + [ + -0.02511215682694641, + 0.9996721819560594, + 0.004990811828781194, + -0.0016637234320277527 + ], + [ + 0.23823251560768052, + 0.0011357908227190659, + 0.9712074847767821, + 0.6259822891208524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9718612425051129, + 0.025182243421715763, + -0.23420414157881128, + 0.03625194176848273 + ], + [ + -0.024878439159284168, + 0.9996814412387935, + 0.004251976919810664, + -0.002855889847757059 + ], + [ + 0.23423660811541866, + 0.0016943019147305771, + 0.9721781425024971, + 0.6400707614742503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9728339548178335, + 0.024831594211118347, + -0.23016839114532586, + 0.03766613852782004 + ], + [ + -0.024685852800807807, + 0.9996890845574352, + 0.003513244684598296, + -0.004146517093465501 + ], + [ + 0.2301840677045008, + 0.0022640993024517775, + 0.9731444747977344, + 0.6534516841019966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9738440453348528, + 0.02455654369599259, + -0.22588658996840932, + 0.03957765952064789 + ], + [ + -0.024565115078015086, + 0.9996943853065429, + 0.0027732846549933816, + -0.004347828700511565 + ], + [ + 0.22588565799327176, + 0.002848183329870556, + 0.974149658607273, + 0.6667099155025857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9750603393510187, + 0.02432448068973157, + -0.22060293348877175, + 0.04218492751742618 + ], + [ + -0.0245074088115905, + 0.9996978274170208, + 0.0019080804569163766, + -0.003306982135039883 + ], + [ + 0.22058268639677536, + 0.003545912698215509, + 0.9753618328421092, + 0.6819865016982116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9771321365090782, + 0.02395870624113666, + -0.21127888724729507, + 0.045134138803029515 + ], + [ + -0.024360973873423907, + 0.9997029830139532, + 0.000699074346533844, + -0.002947674887309644 + ], + [ + 0.21123288274589888, + 0.0044638714424301285, + 0.977425569083704, + 0.6954430978057353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9793129039884543, + 0.02356868308439716, + -0.20097450897904426, + 0.04819051117919469 + ], + [ + -0.024183005649726978, + 0.9997073672295208, + -0.0006017846504419392, + -0.002692967837990931 + ], + [ + 0.20090151397997466, + 0.005449503159691303, + 0.9795962865363806, + 0.7089407478131868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9801280511445672, + 0.023554308833235196, + -0.19696242762248123, + 0.05112004353934675 + ], + [ + -0.02421536926570653, + 0.9997063152227221, + -0.0009482590009979273, + -0.004189894536375041 + ], + [ + 0.1968822471704294, + 0.005698933162976772, + 0.9804105787423583, + 0.7228793320392783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9809399223739206, + 0.02353500314927723, + -0.19288072044610968, + 0.053757960898816626 + ], + [ + -0.02425533770633977, + 0.9997048521289464, + -0.001373762203888647, + -0.005344770548648813 + ], + [ + 0.19279146061430782, + 0.0060259652011052595, + 0.9812212494935059, + 0.7366795440476109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.98194049316005, + 0.023480753987989336, + -0.1877272545070465, + 0.05492515937201351 + ], + [ + -0.02435104614224111, + 0.9997007522347797, + -0.002330779482135351, + -0.00469177780488285 + ], + [ + 0.18761634908604405, + 0.006860041790792642, + 0.9822184305857086, + 0.7519795518774185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9827472380875282, + 0.023501919855581647, + -0.18345442429779962, + 0.05530244713240616 + ], + [ + -0.02447825926720958, + 0.9996956825868133, + -0.003058928003848141, + -0.003825631538619559 + ], + [ + 0.18332670524116923, + 0.007496798008968568, + 0.9830234570777191, + 0.7650347438371514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9835066826823482, + 0.02358982698318185, + -0.17932686687182808, + 0.054881267103780856 + ], + [ + -0.024651729182022117, + 0.9996892707030611, + -0.003695171108071431, + -0.002648939600735472 + ], + [ + 0.17918397631345012, + 0.00805494283562783, + 0.9837826083685438, + 0.7779979301475686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9842364460961306, + 0.02383422420154627, + -0.17524425221036244, + 0.054069721227645584 + ], + [ + -0.02496899042003124, + 0.9996790941003258, + -0.004272977434576088, + -0.002845195156886247 + ], + [ + 0.17508617219376033, + 0.008581292179062209, + 0.9845157153296613, + 0.7913517652760045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9849430658945775, + 0.024157836037716658, + -0.17118281427808474, + 0.053063278146851994 + ], + [ + -0.025357144642845178, + 0.9996668230775982, + -0.004822660417659424, + -0.003728521711303407 + ], + [ + 0.17100927507522007, + 0.009090753319556591, + 0.9852274793378081, + 0.804895779858368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9856097679605271, + 0.02451722314974185, + -0.16724918854757403, + 0.051755579987117405 + ], + [ + -0.02581346050386371, + 0.9996512010363809, + -0.00558045906147675, + -0.004197545002567989 + ], + [ + 0.16705403484385428, + 0.009817435283571378, + 0.9858988626663697, + 0.8177302020873273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9864467035050203, + 0.024911201791663635, + -0.1621799407120805, + 0.0499830674617302 + ], + [ + -0.02633295839521343, + 0.9996312906573492, + -0.0066225403644308055, + -0.004417525298704171 + ], + [ + 0.1619551680133576, + 0.0108034607426311, + 0.9867389770297654, + 0.8324344439186563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9875619896004796, + 0.025065884282593417, + -0.15521925828154848, + 0.0487855954106448 + ], + [ + -0.026640247630112787, + 0.9996125056102982, + -0.008070677400805233, + -0.0034486608956368564 + ], + [ + 0.15495681302397996, + 0.01210537370894573, + 0.9878470762343826, + 0.8447461530420133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9889568859977533, + 0.02497837390939681, + -0.14608339561520725, + 0.04776838555148294 + ], + [ + -0.026698508470321475, + 0.9995952381226862, + -0.009825963968511042, + -0.002706576045063625 + ], + [ + 0.1457788300237279, + 0.01361766350343074, + 0.9892234792793894, + 0.8574231023535674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.990870229970071, + 0.024408786881858335, + -0.13259109503286787, + 0.047107251935294726 + ], + [ + -0.026254278321728528, + 0.9995809946987786, + -0.012188023088506408, + -0.0024157043694613394 + ], + [ + 0.1322380438030758, + 0.015557832752564548, + 0.991095885175183, + 0.8708368637490361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9927200631679679, + 0.023823906493395025, + -0.11806480281260658, + 0.04613675018800743 + ], + [ + -0.025696816609593512, + 0.99956654622847, + -0.01436639401592566, + -0.0027856159984214215 + ], + [ + 0.11767136355085982, + 0.017295697160909007, + 0.9929019634685992, + 0.8840686210952869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9947281702023733, + 0.02312389630146341, + -0.099905719684499, + 0.04443058909980238 + ], + [ + -0.024912145796978726, + 0.9995503319684447, + -0.016688884131730454, + -0.003982074391678276 + ], + [ + 0.09947488325013808, + 0.019089769029807982, + 0.9948569386202019, + 0.8992639314895501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9962180268402553, + 0.023144264854585588, + -0.08374954329934729, + 0.04259646316085711 + ], + [ + -0.024822610816388202, + 0.9995102628983107, + -0.019054457567929135, + -0.0036946300354383788 + ], + [ + 0.08326752662813146, + 0.02106127644020368, + 0.9963046429902567, + 0.9117809882639617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9974495831012339, + 0.023316289561822804, + -0.06745872673156442, + 0.04063831498308196 + ], + [ + -0.02481714133216106, + 0.9994608590303827, + -0.021496529076783802, + -0.003141354745050722 + ], + [ + 0.06692113767169677, + 0.02311583672114642, + 0.9974904608192536, + 0.9241587642615365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9983945260049857, + 0.02377848435912565, + -0.05140966956578321, + 0.037604609249775864 + ], + [ + -0.025023301838308143, + 0.9994057273328167, + -0.02370709892569606, + -0.0029981504075494024 + ], + [ + 0.050815399323326425, + 0.024955477473825895, + 0.9983962236184913, + 0.9360435330309735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9990764952747977, + 0.02420052695435755, + -0.03550339539478646, + 0.03464317550261995 + ], + [ + -0.025122557280219317, + 0.9993524791584261, + -0.025758096117720286, + -0.003184275876279361 + ], + [ + 0.03485704670693188, + 0.026626244478691156, + 0.999037551546403, + 0.9480042358417362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9995452426942422, + 0.02431094470755297, + -0.017840565426446343, + 0.031489003350296474 + ], + [ + -0.024791028317729467, + 0.999322528104792, + -0.027200914271344606, + -0.005328546342122585 + ], + [ + 0.017167199021929754, + 0.027630830419547753, + 0.9994707722030035, + 0.9625892158761725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997007385069621, + 0.024261831871827833, + -0.003130006846351295, + 0.029728495235385614 + ], + [ + -0.024340940853698746, + 0.9993012807837827, + -0.028363159595658157, + -0.006471217213269567 + ], + [ + 0.0024396776409571783, + 0.02843085890568899, + 0.9995927842050949, + 0.9751428738867169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996482136449615, + 0.024066037877533305, + 0.011147859763859813, + 0.028734941865419555 + ], + [ + -0.02372888536716163, + 0.999284618000698, + -0.029448127723697332, + -0.006913904512706464 + ], + [ + -0.011848584542874943, + 0.029173241987756882, + 0.9995041435613232, + 0.9877476945547077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995086491418228, + 0.023894369192847743, + 0.020285941229440912, + 0.028225059473531988 + ], + [ + -0.023277032476804113, + 0.9992745838673417, + -0.030141098119093553, + -0.006158137400162943 + ], + [ + -0.02099142800674239, + 0.0296540917518461, + 0.9993397794507185, + 1.0014226206654173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993575963543275, + 0.023733139600063843, + 0.026853913934934664, + 0.02795951771456648 + ], + [ + -0.022907705531703303, + 0.9992679766738546, + -0.03063899184721162, + -0.004803093832820165 + ], + [ + -0.02756141571425108, + 0.03000414769435406, + 0.9991697150559367, + 1.015630831595935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991320500258642, + 0.02322129173376564, + 0.03458205056571447, + 0.027402298304297815 + ], + [ + -0.022169811575917988, + 0.9992893417350598, + -0.0304846018409202, + -0.0054936452091987244 + ], + [ + -0.03526536637839706, + 0.02969146518659007, + 0.9989368202390335, + 1.033125689701411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9988863103777803, + 0.02274352678962108, + 0.041338492099189834, + 0.027017523058599266 + ], + [ + -0.021501232435715664, + 0.999311020741325, + -0.03025195578266745, + -0.006315335613933199 + ], + [ + -0.04199804690233012, + 0.02932943596629376, + 0.9986871122840671, + 1.0481267071352829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9985634486477983, + 0.02231279627597776, + 0.04871527632029245, + 0.026247984995652826 + ], + [ + -0.020863465799075286, + 0.9993303449391061, + -0.030059565511462896, + -0.006645363582712887 + ], + [ + -0.0493533668503634, + 0.029000013900579887, + 0.9983602778427734, + 1.0625851999320675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982360301112273, + 0.02195690401610345, + 0.055160878834596985, + 0.025090955213229113 + ], + [ + -0.02032559852909338, + 0.999344341567148, + -0.029962593715468135, + -0.006483452552552419 + ], + [ + -0.05578259793350958, + 0.028788562724660526, + 0.998027815456081, + 1.0771024675043424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9979764156965675, + 0.021754798085806264, + 0.05974782400789167, + 0.02316703354697637 + ], + [ + -0.01998484461576959, + 0.9993481906935608, + -0.03006326235108412, + -0.005339502327153944 + ], + [ + -0.060362900022412284, + 0.028808375826352428, + 0.9977606916406019, + 1.091759994741918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9977004545272055, + 0.021591139352359186, + 0.06424660098149115, + 0.02070069458940832 + ], + [ + -0.019685603911126268, + 0.9993516253518062, + -0.030146407835058255, + -0.004753798476136509 + ], + [ + -0.06485584040672193, + 0.028812351659842316, + 0.9974786054632789, + 1.1066797287361714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9973589346015069, + 0.02144492606547052, + 0.06939215169306939, + 0.01698250502090612 + ], + [ + -0.019385040071733133, + 0.9993551803629683, + -0.030223231182597857, + -0.004717856734525484 + ], + [ + -0.06999554122917223, + 0.0287982400112569, + 0.9971315287264211, + 1.1244059005310958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.997045038305948, + 0.021366901685398128, + 0.07378785199378898, + 0.014435065334576072 + ], + [ + -0.019149219096503897, + 0.9993472596698281, + -0.030632694925511426, + -0.005335879088555359 + ], + [ + -0.07439421346774808, + 0.029129196740931493, + 0.9968033862802349, + 1.1392460632699197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9967117336382708, + 0.02129995853965985, + 0.07817948448283288, + 0.011977760470171447 + ], + [ + -0.018915865376704952, + 0.9993369563685227, + -0.0311100895715133, + -0.006082330365966285 + ], + [ + -0.0787902916915727, + 0.029528958706767448, + 0.9964537774191289, + 1.1540093175235857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 445.56488037109375, + "fy": 445.5648708343506, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_175/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_175/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..31486f8a47adf070233b4987f5bafacf485a8e21 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_175/boom_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999743248116, + -0.00014251941475807938, + -0.0001761777310998027, + 0.00040110509759138654 + ], + [ + 0.0001424538878474776, + 0.9999999207012369, + -0.0003718930088944914, + 0.000213977898570741 + ], + [ + 0.00017623071910310677, + 0.00037186790214332094, + 0.9999999153284951, + 0.00026106136089527415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999464155724441, + 0.0006140744490424692, + -0.010333871316779519, + 0.016886871242630594 + ], + [ + -0.0007449012110355946, + 0.9999195699783658, + -0.01266091214982752, + 0.0014370690480801248 + ], + [ + 0.010325265420633166, + 0.01266793143535619, + 0.9998664472854074, + 0.03596147081493266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998235431060998, + 0.001204745938751998, + -0.018746499352902467, + 0.030921718485056628 + ], + [ + -0.0016348413643253034, + 0.9997354076917667, + -0.022944321761401855, + 0.0019213737783730172 + ], + [ + 0.01871389709490792, + 0.02297092063022961, + 0.9995609670554974, + 0.06564305999052823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995821885546862, + 0.0025051473181952875, + -0.028795356589870893, + 0.0494396815630685 + ], + [ + -0.003569022603292779, + 0.9993105845982189, + -0.03695426345664564, + 0.004364449481846058 + ], + [ + 0.028682928753543762, + 0.037041594820959436, + 0.9989020021259537, + 0.10238070957171415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992762272599914, + 0.0033147298304659315, + -0.037895041881344425, + 0.06599605255006083 + ], + [ + -0.005142371516745327, + 0.9988228355596646, + -0.0482337970694301, + 0.007303822988823863 + ], + [ + 0.037690551179594, + 0.04839375714596065, + 0.9981169603914544, + 0.13312274662847354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987862364887721, + 0.004482228633959794, + -0.04905062106709201, + 0.08498816197544157 + ], + [ + -0.007446235761044641, + 0.9981457103660737, + -0.060412701071852315, + 0.00918979039757349 + ], + [ + 0.04868888347031055, + 0.06070461682836781, + 0.9969675732550861, + 0.17039286677950535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9982725937070716, + 0.005689961690960123, + -0.05847608903912327, + 0.09940158379688208 + ], + [ + -0.009741123882583504, + 0.9975532154102406, + -0.06922927798406112, + 0.009783368952270976 + ], + [ + 0.057939098705970804, + 0.06967931372111563, + 0.9958854623301288, + 0.2011589742001793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975024047313189, + 0.007009158443402147, + -0.07028388331012539, + 0.11588072147877919 + ], + [ + -0.012472059211492633, + 0.9969072247430086, + -0.07759144923390415, + 0.010115888622743015 + ], + [ + 0.06952266029332493, + 0.07827424195166496, + 0.9945047726143054, + 0.23636822053100418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9967141754506897, + 0.007983291044034377, + -0.08060471152332402, + 0.13053899361588778 + ], + [ + -0.01470665495094698, + 0.9964271914021724, + -0.0831658976656454, + 0.009859270262093878 + ], + [ + 0.07965278875096482, + 0.08407805479722434, + 0.9932705139818202, + 0.2647716543653456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9956322739207117, + 0.00947529141133174, + -0.09287945940919032, + 0.14825564864812094 + ], + [ + -0.01774152502143345, + 0.9959108337950278, + -0.0885824441952623, + 0.009301121204054158 + ], + [ + 0.09166031538996, + 0.0898433635966689, + 0.9917290741932748, + 0.2973612818447079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9943875200185416, + 0.010247994053623404, + -0.10530165549150626, + 0.16574764379294213 + ], + [ + -0.01991793677012896, + 0.9956339180634358, + -0.09119417194356809, + 0.009720203907649508 + ], + [ + 0.10390734250377166, + 0.09277973819497885, + 0.9902500615270243, + 0.3294274975209734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9931179820773562, + 0.011079282071236485, + -0.11659298084955975, + 0.18037129161279972 + ], + [ + -0.021985475431662835, + 0.9954536532666105, + -0.09267504015754366, + 0.01028145371787111 + ], + [ + 0.11503613582106963, + 0.09460060098617004, + 0.9888465066674462, + 0.3572125802647384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9912947208473625, + 0.013001204220053783, + -0.13101810985118958, + 0.19691181735921554 + ], + [ + -0.025466793296555393, + 0.9952537017626767, + -0.09392290224902501, + 0.01249639518109131 + ], + [ + 0.1291751479942657, + 0.09644188828780699, + 0.986920839441615, + 0.3918687569704147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9895769095917887, + 0.014463756525350787, + -0.14327714315249473, + 0.21058788748896773 + ], + [ + -0.028220930268993943, + 0.9951288964046496, + -0.09445664950238693, + 0.015307494989485854 + ], + [ + 0.14121302736475017, + 0.09751553357101402, + 0.98516475861393, + 0.4209759943974508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9872727630466107, + 0.01605532859060713, + -0.1582236321481675, + 0.22829179490780566 + ], + [ + -0.03146133070128743, + 0.9949464520418827, + -0.09535062789396827, + 0.0175298787196053 + ], + [ + 0.15589315577284082, + 0.09911500387487963, + 0.9827886547931185, + 0.45500511817082234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9851856285032735, + 0.017073275687944575, + -0.1706393291357347, + 0.24379399773287846 + ], + [ + -0.033865246764918894, + 0.9948064507790352, + -0.09598578306171335, + 0.019436496304758927 + ], + [ + 0.16811431364449997, + 0.10034255700201478, + 0.9806472091441123, + 0.48234408121313777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.982474910236998, + 0.018120978007673268, + -0.185511942771479, + 0.2620731923646218 + ], + [ + -0.03652651530859863, + 0.9946835141869088, + -0.09628354108669138, + 0.021009402139435317 + ], + [ + 0.18278091922904258, + 0.10137226820401771, + 0.9779134924956088, + 0.5144539213836452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9795224524595014, + 0.01993759601648363, + -0.20034534532353787, + 0.27889063293545535 + ], + [ + -0.03997029914929495, + 0.9945350210237273, + -0.09644929830356772, + 0.022217192539835742 + ], + [ + 0.19732749507770075, + 0.10248211659805928, + 0.9749662945271196, + 0.5466729831827228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9768533003872035, + 0.021387392817604836, + -0.21283845740630078, + 0.2915705697863211 + ], + [ + -0.04276007612958463, + 0.9944308583413836, + -0.09632675572140642, + 0.02539372414144324 + ], + [ + 0.2095929517231445, + 0.10319809788404458, + 0.9723275925227541, + 0.5741424483816526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9734614728326831, + 0.02346830234453815, + -0.2276444589606535, + 0.30647572605368345 + ], + [ + -0.0463119411153504, + 0.9943484974765877, + -0.09553151143042109, + 0.029436220880389698 + ], + [ + 0.22411596333271672, + 0.1035389025976116, + 0.9690468154987821, + 0.6087757807007927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9704272119518719, + 0.025061521934036695, + -0.24008945504054632, + 0.31916142141883613 + ], + [ + -0.049223627664539, + 0.9942427253291795, + -0.09517582471168061, + 0.03248279552996515 + ], + [ + 0.2363219430837085, + 0.10417928416127421, + 0.9660738149690141, + 0.6378737034075338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9666136811391592, + 0.026309398936838195, + -0.25488390879415285, + 0.33478252436561046 + ], + [ + -0.05204790377580922, + 0.9941377596812558, + -0.09476882656484546, + 0.036186156931723626 + ], + [ + 0.2508964072025501, + 0.10487101746200402, + 0.9623165085091995, + 0.672055871559456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9632760513654829, + 0.027518076793668952, + -0.26709924057417633, + 0.34722383549761565 + ], + [ + -0.054543723590466164, + 0.9940489305529838, + -0.09429584234395665, + 0.03873891351514728 + ], + [ + 0.2629148742133294, + 0.10540151382236994, + 0.9590444670615342, + 0.7004577812008295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9590120656473551, + 0.029516483969104845, + -0.281823766061159, + 0.3604115414487475 + ], + [ + -0.058148449734389734, + 0.9938935943260022, + -0.09377782760987483, + 0.04111306949663055 + ], + [ + 0.2773348440717114, + 0.10632168326283134, + 0.9548722867126671, + 0.7347114463477226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9544149295179156, + 0.03130275937003307, + -0.29683712633215986, + 0.37360346553370916 + ], + [ + -0.06152924187838173, + 0.993759608917669, + -0.09303758422096821, + 0.04446417556094563 + ], + [ + 0.2920724134648537, + 0.10706062273134768, + 0.9503850421556477, + 0.7700778829936539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9502603067166966, + 0.032634867801941525, + -0.30974233627684794, + 0.3862590622341055 + ], + [ + -0.06427078717799407, + 0.993637587522733, + -0.0924857317510358, + 0.04626474299080374 + ], + [ + 0.30475336814252135, + 0.10779290359552135, + 0.946311827327671, + 0.7987798772359247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9449432086409766, + 0.03416429647954304, + -0.3254460528096073, + 0.4023367776817577 + ], + [ + -0.06766477601676567, + 0.9934407791504738, + -0.09217861144267947, + 0.04764945844575892 + ], + [ + 0.3201621628642222, + 0.10912478713361795, + 0.9410568369142992, + 0.8326405554659995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9402887712945442, + 0.03494311662329553, + -0.3385793927250257, + 0.4161689859302586 + ], + [ + -0.06991299644308907, + 0.993334717801137, + -0.09164230103660756, + 0.04960153295893124 + ], + [ + 0.3331203979130444, + 0.10984132651960443, + 0.9364644592736389, + 0.8609729806453223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9343927536165982, + 0.03663167788721919, + -0.3543561798021285, + 0.4303804808660284 + ], + [ + -0.07341722007194, + 0.9931477985392211, + -0.09092503535114776, + 0.05159605447616587 + ], + [ + 0.348597323262385, + 0.1109755397908303, + 0.9306795021823756, + 0.8941730267547017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9292582333292438, + 0.038527790013610994, + -0.3674163104524348, + 0.43980497570652555 + ], + [ + -0.0767440618698744, + 0.9929829690030791, + -0.08997317509982082, + 0.05415798133524874 + ], + [ + 0.36137167121611197, + 0.11180533380164483, + 0.9256943786023426, + 0.922987434618399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9228723541898872, + 0.04065026383770283, + -0.38295453244731353, + 0.44933291498210387 + ], + [ + -0.08036729552059826, + 0.9928478312398801, + -0.08828522986871337, + 0.05746590465617031 + ], + [ + 0.37662675911666205, + 0.11225301800928064, + 0.9195387671355069, + 0.9580111825319926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9173649231222568, + 0.04213869515134527, + -0.39581047004322406, + 0.45719327249304526 + ], + [ + -0.0831698406020378, + 0.9927239329717775, + -0.08707451130656749, + 0.0590102668300073 + ], + [ + 0.3892613202453175, + 0.11279859607276996, + 0.9141947830111943, + 0.9867359228706724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.910461718127594, + 0.04355825001412043, + -0.4112932514397207, + 0.46750594998552986 + ], + [ + -0.08626001139852238, + 0.9925684732851406, + -0.08583144105706392, + 0.0601041378402168 + ], + [ + 0.40449804728536914, + 0.11362440185150735, + 0.9074529326891896, + 1.02095708809246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9031461137316996, + 0.045055101067192044, + -0.4269626858627735, + 0.4771943221128764 + ], + [ + -0.08941240252876709, + 0.9924115246920138, + -0.08440845889190568, + 0.06197831887083846 + ], + [ + 0.41991965841737156, + 0.11440893114743236, + 0.9003210965807368, + 1.055687446657526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8964892072820132, + 0.046859296529751696, + -0.44058064818555565, + 0.483769922262219 + ], + [ + -0.0925560694157908, + 0.992259016042867, + -0.08279745826980897, + 0.0633501290450719 + ], + [ + 0.43329028980715323, + 0.11500544078598302, + 0.8938866110130831, + 1.0862109350193028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.887751376465565, + 0.04906508664898964, + -0.45770089671708303, + 0.48932821774979773 + ], + [ + -0.09624449426469031, + 0.9921116284006147, + -0.08032131794246603, + 0.0665872125504928 + ], + [ + 0.4501494095377986, + 0.1153565518919834, + 0.885470708170724, + 1.1245847502109498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8799020198975914, + 0.0508745730176782, + -0.4724237644323236, + 0.49362843241671794 + ], + [ + -0.0995093855542821, + 0.9919337824842778, + -0.07851912730693462, + 0.06959035830134976 + ], + [ + 0.4646184645133552, + 0.11609973723786933, + 0.8778670363138997, + 1.1570044041012326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.869910379312775, + 0.053202962026304826, + -0.49033190472936966, + 0.499629706649438 + ], + [ + -0.10339256828047062, + 0.9917463653510862, + -0.07582297565565618, + 0.07102936132585747 + ], + [ + 0.48225087743649814, + 0.11665586845305975, + 0.8682312477486572, + 1.1956337342158263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8611613227153095, + 0.055661778502101925, + -0.5052751158262215, + 0.5038966206335639 + ], + [ + -0.10650887498899823, + 0.991680939287111, + -0.07228259958808433, + 0.0742628126503726 + ], + [ + 0.49704832341312305, + 0.11606326321716243, + 0.8599257427961947, + 1.2290880980221806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8503374638267757, + 0.05938117204328765, + -0.5228767292769992, + 0.5071100690917295 + ], + [ + -0.11028078557958317, + 0.9916580244029768, + -0.06672713817582027, + 0.07794686982523052 + ], + [ + 0.5145525686891447, + 0.11440384191079633, + 0.8497925717558683, + 1.268785898764452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8410756226722653, + 0.06298644772514578, + -0.5372378470932859, + 0.5089949253727927 + ], + [ + -0.11369135368119324, + 0.9915962767484529, + -0.06173410756416385, + 0.08126640089899978 + ], + [ + 0.5288346367671082, + 0.11300235104445129, + 0.8411684704111463, + 1.3007758451296767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8293962682544025, + 0.0681814771553287, + -0.5544845501712281, + 0.5106383433723823 + ], + [ + -0.11792948724591464, + 0.9915265587967687, + -0.054476777057332317, + 0.08678072551937158 + ], + [ + 0.5460718508068214, + 0.11057291428535301, + 0.830409034381766, + 1.337984851260366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8168289469851151, + 0.07393723604371046, + -0.5721221517240918, + 0.5135248375621455 + ], + [ + -0.12194620584510847, + 0.9914714053709666, + -0.04597363605049164, + 0.0904588705097566 + ], + [ + 0.5638435902332937, + 0.10732072240689249, + 0.8188789094212234, + 1.3739459919706911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8056992815913839, + 0.07798918028027299, + -0.587168081048637, + 0.5166515589397995 + ], + [ + -0.12513209125800442, + 0.9913321235173378, + -0.04003224475350035, + 0.09326348099132556 + ], + [ + 0.5789564986944409, + 0.10572752073995109, + 0.8084745289603482, + 1.4029869525610543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7911380651610294, + 0.08213741045833653, + -0.6060973582325383, + 0.5200493183842253 + ], + [ + -0.12876117320027752, + 0.9911008381791446, + -0.033759277786786925, + 0.09656723870745852 + ], + [ + 0.5979307001060835, + 0.10475005662908282, + 0.794673708830771, + 1.4375834551480624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7779044761942104, + 0.08543634557846141, + -0.6225473931928469, + 0.5206846729476268 + ], + [ + -0.13223889083756524, + 0.9907857066648186, + -0.0292670329679462, + 0.09878464789926886 + ], + [ + 0.6143105905542097, + 0.10509193272032855, + 0.782034643740317, + 1.4660425883286845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7606213244835355, + 0.08992008782506139, + -0.6429382385163022, + 0.5180550855491943 + ], + [ + -0.13726959582067147, + 0.99024530939093, + -0.023901575104809322, + 0.10197662429731505 + ], + [ + 0.6345173431862535, + 0.10643591985225002, + 0.765544992904443, + 1.5004846002189693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7449970186653966, + 0.09375344516996612, + -0.660446616842295, + 0.5145323087675168 + ], + [ + -0.14146838170036977, + 0.989758917389273, + -0.019078323497964615, + 0.10449440818317829 + ], + [ + 0.6518942699232365, + 0.10764560821128125, + 0.7506305908195283, + 1.5298085004044535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.725184409430393, + 0.09772542637906456, + -0.6815844139636135, + 0.5091476741903489 + ], + [ + -0.14627730759564336, + 0.989147214807746, + -0.013810746563764506, + 0.1057184659467881 + ], + [ + 0.672837663631921, + 0.10971567106438819, + 0.7316091510644391, + 1.5646239287883823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.704880215677206, + 0.1009910073230989, + -0.7021002050895027, + 0.5024840730726201 + ], + [ + -0.15054123271147596, + 0.988563298106131, + -0.008941078863229084, + 0.1074726138777558 + ], + [ + 0.6931675257833168, + 0.11199741995865362, + 0.7120220215148125, + 1.5987604155152668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6873235050474943, + 0.10351868257135138, + -0.7189369108398309, + 0.4955162089799204 + ], + [ + -0.15396100446715338, + 0.9880646705530454, + -0.004920966202606632, + 0.10911537685540043 + ], + [ + 0.7098467500191097, + 0.11407054468000849, + 0.6950579129279185, + 1.6260246989094058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6657536839548845, + 0.10683347329045165, + -0.7384840155922117, + 0.48371699951561437 + ], + [ + -0.15874681636059648, + 0.987319284387099, + -0.00028102085634618135, + 0.11111722642059846 + ], + [ + 0.7290894873716631, + 0.11741907707883333, + 0.6742709245860156, + 1.6567044451221409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6472837471473585, + 0.10968524917184319, + -0.7543161782654442, + 0.47042226768441286 + ], + [ + -0.16266020803361086, + 0.9866744668924261, + 0.003892698936378232, + 0.11463511819127413 + ], + [ + 0.744691484711177, + 0.12017754572572001, + 0.6564997715932623, + 1.681747405888075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6248182223352841, + 0.112982148851693, + -0.7725524079818987, + 0.4518357331821788 + ], + [ + -0.16731924968526435, + 0.9858630031769221, + 0.008854809525947381, + 0.11711264833220034 + ], + [ + 0.7626312724525112, + 0.12373024289895551, + 0.6348892574848228, + 1.7100226055559828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.607674307695564, + 0.11535451989811232, + -0.7857641315978944, + 0.4353134609707973 + ], + [ + -0.17081530208721737, + 0.985223322660543, + 0.012535432125466477, + 0.11716580133221158 + ], + [ + 0.7755991673149022, + 0.12660307746968677, + 0.6183992176867907, + 1.7332231203370092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5911826881430288, + 0.11701442420653543, + -0.7980041690164253, + 0.41529182291625477 + ], + [ + -0.17340135329161535, + 0.9847223469639323, + 0.015933300552036143, + 0.11869867196193486 + ], + [ + 0.787676964190663, + 0.12895551138845557, + 0.6024412636647021, + 1.7611922527842538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.5794844776035333, + 0.1185965855082975, + -0.8063079995400847, + 0.39321567628075144 + ], + [ + -0.17595683270999707, + 0.9842276235251326, + 0.018307870240307632, + 0.11847621381802506 + ], + [ + 0.7957618571150707, + 0.13126627516556913, + 0.5912125098176888, + 1.7852969066123667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.572668042144161, + 0.11971604344326484, + -0.8109990027423363, + 0.372918894910425 + ], + [ + -0.1781166918582607, + 0.9838170545556156, + 0.01945372064625394, + 0.11933342262499942 + ], + [ + 0.800203572591527, + 0.13331193535390373, + 0.5847240120808738, + 1.8026986662054136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.5675481596948759, + 0.12045209132604928, + -0.814481663465876, + 0.34640261821529 + ], + [ + -0.17981524458080794, + 0.9834940465115392, + 0.020147910380550423, + 0.1228489578151956 + ], + [ + 0.8034647249526912, + 0.13502131006452112, + 0.5798393584305541, + 1.8207256348322634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5656987676874163, + 0.12104493216465104, + -0.8156794889135032, + 0.3230644014259317 + ], + [ + -0.18082026378171698, + 0.9833021676691962, + 0.02051534213632264, + 0.12588173816593115 + ], + [ + 0.8045426877691756, + 0.13588587658147228, + 0.5781402010782818, + 1.8336622782988892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5651193163641494, + 0.12158067394851883, + -0.8160014080835525, + 0.29440544551114306 + ], + [ + -0.18185868158925383, + 0.9831102663539608, + 0.02053348777150902, + 0.13084421342411878 + ], + [ + 0.8047158369280021, + 0.1367930696770428, + 0.5776851027035377, + 1.847638751639727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5651607167709236, + 0.12174429152092017, + -0.8159483388677525, + 0.26971622617707186 + ], + [ + -0.1822083401600104, + 0.983046822742414, + 0.020471078920723543, + 0.1366035673791411 + ], + [ + 0.804607659045767, + 0.13710314284550063, + 0.5777622722424651, + 1.8581420199841052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5651748171841218, + 0.12238993712240522, + -0.8158419756987676, + 0.23649824218942753 + ], + [ + -0.18320865053011925, + 0.9828597106318077, + 0.020527532430675108, + 0.14052995784524325 + ], + [ + 0.8043705715600413, + 0.1378676630248496, + 0.5779104524926326, + 1.8684031227855231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5653160751881303, + 0.12284691507393306, + -0.8156754076167223, + 0.2086110781836478 + ], + [ + -0.18425036376966206, + 0.9826696859320881, + 0.02030004435656299, + 0.1468657504166021 + ], + [ + 0.8040332944503203, + 0.13881254916955132, + 0.5781535588478337, + 1.8739475459666508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.5654439838709009, + 0.12313194830643817, + -0.8155437599604728, + 0.17668579587934008 + ], + [ + -0.18536654370548053, + 0.9824696730339477, + 0.01981378417294992, + 0.1593213388712852 + ], + [ + 0.8036867210417805, + 0.13997094296613388, + 0.5783561096299431, + 1.8769078994118922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.565467766649601, + 0.12330858221332752, + -0.815500581503687, + 0.14485475713900206 + ], + [ + -0.18609106754823262, + 0.9823389748412555, + 0.019500079143178153, + 0.17016146361358014 + ], + [ + 0.8035025323289725, + 0.1407307075956422, + 0.5784276518982805, + 1.878114597367815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.5653559297567246, + 0.12379095330648376, + -0.8155050414119962, + 0.11823085315096098 + ], + [ + -0.18672905674537404, + 0.9822150050776312, + 0.019645436297826384, + 0.1791030371954498 + ], + [ + 0.8034332156787474, + 0.1411718232503251, + 0.5784164453612004, + 1.8789062323947074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5648328250133179, + 0.12606209632040177, + -0.8155196059315685, + 0.08647573188052819 + ], + [ + -0.18738143053037581, + 0.9820403542931689, + 0.02202139941369477, + 0.18983064037364422 + ], + [ + 0.8036492265160621, + 0.1403748211434418, + 0.5783103235366649, + 1.8786353269573952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.564501635730416, + 0.1303847000358755, + -0.815069158571369, + 0.06042324025468501 + ], + [ + -0.18801192129724836, + 0.9817998715190956, + 0.026842684947755532, + 0.19713454920810913 + ], + [ + 0.803734670589618, + 0.13808997893273045, + 0.5787415113939522, + 1.8750161544469317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5651762740985498, + 0.13895860796266268, + -0.8131828112233805, + 0.03039582896331741 + ], + [ + -0.18829630573724804, + 0.9814211315787048, + 0.03683834600629528, + 0.20667423158505588 + ], + [ + 0.8031938000518841, + 0.13229916010260134, + 0.5808413309969948, + 1.8674134658288741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.56684050039849, + 0.14643308742448258, + -0.8107090711317615, + 0.0058563784426243146 + ], + [ + -0.18786337096800315, + 0.98112387884531, + 0.04586162020766372, + 0.21638450803511636 + ], + [ + 0.8021216871251693, + 0.12630631522955374, + 0.5836501638623985, + 1.8601346437878805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5696785965804954, + 0.15401997723604888, + -0.807306721890933, + -0.024629091773280647 + ], + [ + -0.18672576142046338, + 0.9808507286333095, + 0.05536549612759056, + 0.2272926534052499 + ], + [ + 0.8003747788505241, + 0.11920442421199409, + 0.5875291640661437, + 1.851527990019318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5725862390268659, + 0.15914710006181948, + -0.80424946342474, + -0.050911814272472274 + ], + [ + -0.18557938713543004, + 0.9806754341617291, + 0.06193532031194143, + 0.2386534423295737 + ], + [ + 0.7985645183374398, + 0.1137888104060229, + 0.5910556798465566, + 1.8456304992713364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5769081681085799, + 0.16379668945806322, + -0.8002172268154324, + -0.08462693473812657 + ], + [ + -0.18503957598719925, + 0.9804252127501247, + 0.06728118252788148, + 0.2516739263287638 + ], + [ + 0.7955735798077259, + 0.10925679258724097, + 0.5959241834205662, + 1.8386622632851157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5829769623274603, + 0.16656286799519532, + -0.7952324643779718, + -0.11910702352383365 + ], + [ + -0.18459534030465163, + 0.9803182851988971, + 0.07000442873493007, + 0.26417464673358865 + ], + [ + 0.7912410642359615, + 0.10598523816979974, + 0.6022497053190097, + 1.829808820001734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5899927096141494, + 0.1671568970238784, + -0.7899159286781744, + -0.14683834481570368 + ], + [ + -0.18363519118522512, + 0.980475744316744, + 0.07032376102636252, + 0.2769575107126333 + ], + [ + 0.7862485097986006, + 0.10356585626486968, + 0.6091694298432946, + 1.8221955594045378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5988991222493194, + 0.16694077291982679, + -0.7832308853115572, + -0.17979517651730667 + ], + [ + -0.18214651376341956, + 0.9807928589488399, + 0.06977116423561708, + 0.2921493439702365 + ], + [ + 0.7798349113067632, + 0.10087688621231267, + 0.6178036621251779, + 1.8135451839671843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6072707299288386, + 0.16676739452207623, + -0.7767952733481414, + -0.2079516387086664 + ], + [ + -0.18093791533641934, + 0.9810591621304081, + 0.06916929371977375, + 0.30503929249129774 + ], + [ + 0.7736173029123679, + 0.0985472299169275, + 0.6259430582012184, + 1.80655707632499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6185270766278053, + 0.1668012757073366, + -0.767855188105587, + -0.24304671609905948 + ], + [ + -0.18012623515862436, + 0.9812854958605132, + 0.06806845834427871, + 0.3200697274010824 + ], + [ + 0.7648390646965159, + 0.09620867963022842, + 0.6369969349046878, + 1.7968070890959593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6288821766786103, + 0.16534004216490664, + -0.759716972505472, + -0.2709063838916627 + ], + [ + -0.17853431843337955, + 0.9817264381031915, + 0.0658687928441785, + 0.3338350017371301 + ], + [ + 0.7567249863705452, + 0.09421184206949555, + 0.6469091310349319, + 1.787350520357064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6417061063055234, + 0.16309197593288266, + -0.7494092877170075, + -0.30226613879109204 + ], + [ + -0.17604236596882966, + 0.9823615384199372, + 0.06304675421709753, + 0.3498427564865902 + ], + [ + 0.74647328050929, + 0.0914702969248624, + 0.6590984951175178, + 1.7761028764190046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_175/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_175/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0af7efa50e8fa468a74585eb1da245440b0df3 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_175/pan_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999743248116, + -0.00014251941475807938, + -0.0001761777310998027, + 0.00040110509759138654 + ], + [ + 0.0001424538878474776, + 0.9999999207012369, + -0.0003718930088944914, + 0.000213977898570741 + ], + [ + 0.00017623071910310677, + 0.00037186790214332094, + 0.9999999153284951, + 0.00026106136089527415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999072438066192, + 0.0006140744490424692, + -0.013606127135260184, + 0.01688610364956929 + ], + [ + -0.0007863298865594631, + 0.9999195699783658, + -0.01265840667656699, + 0.00018716958560716722 + ], + [ + 0.01359725959005467, + 0.01266793143535619, + 0.9998273041104596, + 0.03594563590063846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996794338742723, + 0.001204745938751998, + -0.025289880902010297, + 0.03091870662020975 + ], + [ + -0.0017849755113752033, + 0.9997354076917667, + -0.02293313039689607, + -0.0005779647408564 + ], + [ + 0.025255560798338954, + 0.02297092063022961, + 0.999417076827368, + 0.06558563268895266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992513244377127, + 0.0025051473181952875, + -0.038607186460438564, + 0.04943028726062527 + ], + [ + -0.003931642413602393, + 0.9993105845982189, + -0.03691744435761437, + 0.0006170347896027364 + ], + [ + 0.0384880864347462, + 0.037041594820959436, + 0.9985722745278437, + 0.10224180359113555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9986945860689791, + 0.0033147298304659315, + -0.05097191700006551, + 0.0659794789009085 + ], + [ + -0.005773291853811269, + 0.9988228355596646, + -0.04816235319958852, + 0.0023097088110255386 + ], + [ + 0.05075226948306119, + 0.04839375714596065, + 0.997538095218231, + 0.13288077784274374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9978499837772424, + 0.004482228633959794, + -0.06538592740207672, + 0.08496014804647932 + ], + [ + -0.008433695394128589, + 0.9981457103660737, + -0.06028278079024805, + 0.0029513797077855286 + ], + [ + 0.06499448174849763, + 0.06070461682836781, + 0.9960374826470965, + 0.17001346292432806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9969320656146462, + 0.005689961690960123, + -0.07806459431310774, + 0.09935890908419988 + ], + [ + -0.011098472541450152, + 0.9975532154102406, + -0.06902467915127838, + 0.0023017198366941704 + ], + [ + 0.07748083928663502, + 0.06967931372111563, + 0.9945559374830524, + 0.20063637934727094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9956308124475115, + 0.007009158443402147, + -0.0931136778514499, + 0.11581939134239942 + ], + [ + -0.014246053511509291, + 0.9969072247430086, + -0.07728541398310368, + 0.0013929504062416883 + ], + [ + 0.09228399246053197, + 0.07827424195166496, + 0.992651402951931, + 0.2356833209139271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9942626410293379, + 0.007983291044034379, + -0.1066680257503297, + 0.13045916070544744 + ], + [ + -0.016878644751773666, + 0.9964271914021726, + -0.08275242344319737, + -0.00010500165192784826 + ], + [ + 0.10562628462986938, + 0.08407805479722436, + 0.9908450780504515, + 0.26393087381737335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9924653462565401, + 0.00947529141133174, + -0.12215873007098833, + 0.14814905161974345 + ], + [ + -0.02034242183626059, + 0.9959108337950278, + -0.0880215712398304, + -0.0019028756761399063 + ], + [ + 0.120825172682359, + 0.0898433635966689, + 0.9885997408779325, + 0.2963505440042454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9904097388996813, + 0.010247994053623404, + -0.13778072329082391, + 0.16561954386727185 + ], + [ + -0.022891062122022177, + 0.9956339180634358, + -0.09049364881900629, + -0.0027252200681434414 + ], + [ + 0.1362517829886692, + 0.09277973819497885, + 0.9863201162973816, + 0.32826775079353615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9882784638506784, + 0.011079282071236485, + -0.15225940824044054, + 0.1802189514843202 + ], + [ + -0.025306573944602295, + 0.9954536532666105, + -0.09182375244643924, + -0.003406034014544787 + ], + [ + 0.1505498429229653, + 0.09460060098617004, + 0.9840657859558607, + 0.35591182200117855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9853867216889676, + 0.013001204220053787, + -0.16983514774009018, + 0.19671679929591473 + ], + [ + -0.029134555159712486, + 0.9952537017626769, + -0.09285066948242786, + -0.0024324103453488427 + ], + [ + 0.16782188896182604, + 0.09644188828780702, + 0.9810885667302252, + 0.3904221286460976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9825880337113432, + 0.014463756525350787, + -0.1852337867519087, + 0.21035285144543078 + ], + [ + -0.032212596812420176, + 0.9951288964046496, + -0.09317096193055348, + -0.0008633495770897032 + ], + [ + 0.18298389167868487, + 0.09751553357101402, + 0.9782676607649278, + 0.4193913669769218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9789903362574893, + 0.01605532859060713, + -0.2032735790463085, + 0.22801082665747002 + ], + [ + -0.03579526845973706, + 0.9949464520418827, + -0.09380968140424059, + 0.00011831580887235323 + ], + [ + 0.20074018100605454, + 0.09911500387487963, + 0.9746176664397886, + 0.45327060560301197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9756260542382252, + 0.017073275687944575, + -0.21877455416212196, + 0.2434738738137295 + ], + [ + -0.03853425373540225, + 0.9948064507790352, + -0.094208475083056, + 0.0007838753526520138 + ], + [ + 0.21602989047955248, + 0.10034255700201478, + 0.971216998241737, + 0.48046265826935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9714195175985836, + 0.01812097800767327, + -0.23667646901325295, + 0.2617107728044683 + ], + [ + -0.041515548182060436, + 0.994683514186909, + -0.0942399377330275, + 0.0011157318556971358 + ], + [ + 0.23371046208434673, + 0.10137226820401773, + 0.9670072818502942, + 0.5124264760195648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9668671136660582, + 0.01993759601648363, + -0.254500445532321, + 0.2784669590201051 + ], + [ + -0.04527139754584878, + 0.9945350210237273, + -0.09407758777509358, + 0.0010833233430815326 + ], + [ + 0.2512339250087697, + 0.10248211659805928, + 0.9624858080523941, + 0.5444952382050141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.962629084936597, + 0.021387392817604836, + -0.2699774513965856, + 0.291089353447925 + ], + [ + -0.04835674701147567, + 0.9944308583413836, + -0.09364236753140918, + 0.003019029828762107 + ], + [ + 0.26647114262636096, + 0.10319809788404458, + 0.9583022919415967, + 0.5718204911792616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.957435154705672, + 0.02346830234453815, + -0.2876928280628341, + 0.30591835387300065 + ], + [ + -0.05215851853309656, + 0.9943484974765877, + -0.09246920844521694, + 0.005820444065320734 + ], + [ + 0.2838968359777169, + 0.1035389025976116, + 0.9532482793956271, + 0.6063167317640995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9526468511449235, + 0.025061521934036695, + -0.3030443814394384, + 0.3185348833704852 + ], + [ + -0.055343032862438316, + 0.9942427253291795, + -0.0917526666838234, + 0.007626727396735658 + ], + [ + 0.2990002102294397, + 0.10417928416127421, + 0.948549182190568, + 0.6352692213035019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9468296029131313, + 0.026309398936838195, + -0.3206579463773574, + 0.33409190264351846 + ], + [ + -0.05843265757887348, + 0.9941377596812558, + -0.0909710904859548, + 0.010090040740090655 + ], + [ + 0.31638477772426415, + 0.10487101746200402, + 0.9428163883391357, + 0.6693030073510784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9415675193792539, + 0.027518076793668952, + -0.33569831977472975, + 0.34646708838578977 + ], + [ + -0.06118537772346051, + 0.9940489305529838, + -0.09012809339660396, + 0.011402567924940222 + ], + [ + 0.3312204039651489, + 0.10540151382236994, + 0.9376478896052168, + 0.6975592395707143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9351047666261973, + 0.02951648396910485, + -0.35313999009892255, + 0.3595629425346357 + ], + [ + -0.06503556056050232, + 0.9938935943260024, + -0.08913977238203769, + 0.012538628659757984 + ], + [ + 0.3483524813971429, + 0.10632168326283137, + 0.9313142586541945, + 0.7316546979539161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9281832142996186, + 0.03130275937003308, + -0.3708046088551911, + 0.37266438275260816 + ], + [ + -0.06863921248669742, + 0.9937596089176692, + -0.08792325171994131, + 0.014651387293415554 + ], + [ + 0.3657384026891837, + 0.10706062273134771, + 0.9245395847981532, + 0.7668660643117134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9217694369715285, + 0.032634867801941525, + -0.38636261525766397, + 0.3852392226152948 + ], + [ + -0.07161385011620602, + 0.993637587522733, + -0.08692411134741118, + 0.015213568380718332 + ], + [ + 0.38106766005097503, + 0.10779290359552135, + 0.9182418681359077, + 0.7954113489985647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9138677354756765, + 0.03416429647954304, + -0.4045720738046772, + 0.40122643804617253 + ], + [ + -0.07525353586920941, + 0.9934407791504738, + -0.08609485269213926, + 0.015362633123368524 + ], + [ + 0.3989770261503046, + 0.10912478713361795, + 0.9104444592820048, + 0.8290939998841569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.906743687840509, + 0.03494311662329553, + -0.4202319159250576, + 0.41498965574422236 + ], + [ + -0.07772700205210124, + 0.993334717801137, + -0.08511551893120455, + 0.01607648623314286 + ], + [ + 0.4144567501119828, + 0.10984132651960443, + 0.9034160089764999, + 0.8572658358752857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8980487443061909, + 0.03663167788721919, + -0.43836807938676486, + 0.42909837213997576 + ], + [ + -0.08142901742812832, + 0.9931477985392211, + -0.0838258037682235, + 0.016835881527293126 + ], + [ + 0.43229361315055714, + 0.1109755397908303, + 0.8948780149257052, + 0.8902888828620226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8902603897325322, + 0.038527790013610994, + -0.4538194000590402, + 0.4384083433185321 + ], + [ + -0.08492457358466532, + 0.9929829690030791, + -0.08229605137121034, + 0.018162348708887114 + ], + [ + 0.4474642502756425, + 0.11180533380164483, + 0.8872853611205135, + 0.9189344912680895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8808923634110603, + 0.04065026383770283, + -0.47156781074836085, + 0.44780853008819 + ], + [ + -0.08863377079111945, + 0.9928478312398801, + -0.07998273987313785, + 0.020234110984674796 + ], + [ + 0.4649437587057428, + 0.11225301800928064, + 0.8781950587360329, + 0.9538016943566445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8725633681258305, + 0.04213869515134527, + -0.4866800786716554, + 0.4555603980559306 + ], + [ + -0.09156056129524927, + 0.9927239329717775, + -0.07820394184658999, + 0.020542214427350915 + ], + [ + 0.47984354973283283, + 0.11279859607276996, + 0.8700727811532819, + 0.9823649772728525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8624822620471589, + 0.04355825001412043, + -0.5042093082339157, + 0.465763619984965 + ], + [ + -0.09475929866429042, + 0.9925684732851406, + -0.07634462100932363, + 0.02040139890881117 + ], + [ + 0.49713682520073715, + 0.11362440185150735, + 0.8602002512980448, + 1.0164121120183998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.851865748048861, + 0.045055101067192044, + -0.5218187282658414, + 0.4753357991938547 + ], + [ + -0.09798928236817318, + 0.9924115246920138, + -0.07427964862223857, + 0.02104134347729288 + ], + [ + 0.5145122426552406, + 0.11440893114743236, + 0.8498163028746725, + 1.0509680782476942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8420257240384106, + 0.0468592965297517, + -0.537398256776413, + 0.4817784021597045 + ], + [ + -0.10117718677514394, + 0.9922590160428673, + -0.07200848531880868, + 0.021179120863250044 + ], + [ + 0.529863998525903, + 0.11500544078598304, + 0.8402487082142786, + 1.0813232037858984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8296253869227709, + 0.04906508664898964, + -0.5561603497601839, + 0.48718162020890443 + ], + [ + -0.1047935587198878, + 0.9921116284006147, + -0.06879554377357702, + 0.023182328807965898 + ], + [ + 0.5483976909361166, + 0.1153565518919834, + 0.8282226986212875, + 1.1195379010656756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8182754814026142, + 0.0508745730176782, + -0.5725705322103026, + 0.4913390766309224 + ], + [ + -0.1080485658392415, + 0.9919337824842778, + -0.06627879439546613, + 0.02495333808955725 + ], + [ + 0.5645801483894057, + 0.11609973723786933, + 0.8171720180340822, + 1.1517799159255284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8043158208745245, + 0.053202962026304826, + -0.5918154316360531, + 0.4971690696557214 + ], + [ + -0.11179397683302894, + 0.9917463653510862, + -0.06277940392171784, + 0.02516109192836972 + ], + [ + 0.5835907530408586, + 0.11665586845305975, + 0.8036250626509021, + 1.1902384002998723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.7918398374672745, + 0.05566177850210194, + -0.6081870092445116, + 0.5012526861547141 + ], + [ + -0.11465193668416175, + 0.9916809392871112, + -0.05851365711698725, + 0.02715796803423482 + ], + [ + 0.5998704903680224, + 0.11606326321716245, + 0.7916342044890509, + 1.2235750930193654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.7768691375077225, + 0.05938117204328765, + -0.6268558204202723, + 0.5042152369546192 + ], + [ + -0.11787693572153456, + 0.9916580244029768, + -0.05214777715383676, + 0.029603541135585405 + ], + [ + 0.6185300083366275, + 0.11440384191079633, + 0.7773881847205686, + 1.2632087114713006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.7637564936276106, + 0.06298644772514579, + -0.642424101232687, + 0.5058456029865354 + ], + [ + -0.1207766263803049, + 0.9915962767484531, + -0.04636626423163904, + 0.031686587061577134 + ], + [ + 0.6341049005975672, + 0.11300235104445132, + 0.7649453860875145, + 1.2951257275774541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7477686034957148, + 0.0681814771553287, + -0.6604493938213483, + 0.5071440426681717 + ], + [ + -0.12415694261058986, + 0.9915265587967687, + -0.03821173644614083, + 0.03596498938103717 + ], + [ + 0.652247782079525, + 0.11057291428535301, + 0.7498976339466507, + 1.3323179894032418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7307379155344232, + 0.07393723604371046, + -0.6786423092665406, + 0.5096431326698507 + ], + [ + -0.1270951282244982, + 0.9914714053709666, + -0.028831939118258956, + 0.03840662172778084 + ], + [ + 0.6707226902245105, + 0.10732072240689249, + 0.7339028105683055, + 1.3683116540443292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7153832586418765, + 0.07798918028027299, + -0.6943662441493978, + 0.5124596404997348 + ], + [ + -0.12950989553108277, + 0.9913321235173378, + -0.022086372317194385, + 0.03997937935226866 + ], + [ + 0.6866250652389978, + 0.10572752073995109, + 0.7192827755088572, + 1.3973040983212819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6959803842377292, + 0.08213741045833653, + -0.7133475664495545, + 0.5155317608090167 + ], + [ + -0.13227288091233705, + 0.9911008381791446, + -0.014933637726555973, + 0.04205669260760556 + ], + [ + 0.7057727606896241, + 0.10475005662908282, + 0.7006512940862598, + 1.4318222020334628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6781381604736351, + 0.08543634557846141, + -0.7299515505590987, + 0.5158788785088383 + ], + [ + -0.1351019701536039, + 0.9907857066648186, + -0.00954678633421047, + 0.04305295189937282 + ], + [ + 0.7224099203153631, + 0.10509193272032855, + 0.6834322151516249, + 1.460131167113166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6556001265641396, + 0.08992008782506139, + -0.7497351878194176, + 0.5128846804992533 + ], + [ + -0.13930166109928244, + 0.99024530939093, + -0.003045397222368164, + 0.04503751900733657 + ], + [ + 0.7421479106378088, + 0.10643591985225002, + 0.6617309677664637, + 1.494364534827465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6350209485952475, + 0.09375344516996612, + -0.766784641450228, + 0.5090242938637812 + ], + [ + -0.14272117130482542, + 0.989758917389273, + 0.002820054927333246, + 0.04634607178655849 + ], + [ + 0.7591963264575053, + 0.10764560821128125, + 0.6418982481096616, + 1.5234843209220408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6096328927976127, + 0.09772542637906456, + -0.7866368139479901, + 0.5032841486076051 + ], + [ + -0.14663686795637423, + 0.989147214807746, + 0.009242099005305203, + 0.04636963305832333 + ], + [ + 0.7790028016478245, + 0.10971567106438819, + 0.617346828409875, + 1.558040988524519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.5837359856670807, + 0.10099100732309893, + -0.805638327959357, + 0.49629837387408027 + ], + [ + -0.15003754236551775, + 0.9885632981061312, + 0.015209915136013013, + 0.046923111868755266 + ], + [ + 0.7979605472190953, + 0.11199741995865364, + 0.5922124137540581, + 1.5919005735427993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.5610315848082205, + 0.10351868257135138, + -0.82129619699976, + 0.4890462913192109 + ], + [ + -0.15270620157773956, + 0.9880646705530454, + 0.020224312215766458, + 0.047361334945835096 + ], + [ + 0.8135873504715248, + 0.11407054468000849, + 0.5701434328211902, + 1.6188952898669053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.5338235610066328, + 0.10683347329045165, + -0.8388200132918241, + 0.4769063655933481 + ], + [ + -0.15658770963442079, + 0.987319284387099, + 0.026094441338970344, + 0.04817562204092088 + ], + [ + 0.8309709350546768, + 0.11741907707883333, + 0.5437831051368834, + 1.6492189789583653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.5101913483963505, + 0.10968524917184319, + -0.8530380613639842, + 0.46329272648824305 + ], + [ + -0.1596515269616633, + 0.9866744668924261, + 0.031382898549307627, + 0.050501277843266426 + ], + [ + 0.8451131154823732, + 0.12017754572572001, + 0.5209041942075524, + 1.6739358654159033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.48212149994663445, + 0.112982148851693, + -0.8687887506926305, + 0.4443506658207541 + ], + [ + -0.16328078174965618, + 0.9858630031769221, + 0.03759687856992629, + 0.051799224371729236 + ], + [ + 0.860754463015109, + 0.12373024289895551, + 0.49375356342181165, + 1.701825476963927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.4600763220003865, + 0.11535451989811232, + -0.8803539701016136, + 0.42752703087767474 + ], + [ + -0.16595143927593092, + 0.985223322660543, + 0.04236890708959254, + 0.050663227052624916 + ], + [ + 0.8722327084768398, + 0.12660307746968677, + 0.4724211712427384, + 1.7246774126078053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.43877652487976404, + 0.11701442420653546, + -0.8909448836724141, + 0.40724708125205544 + ], + [ + -0.1677478994037031, + 0.9847223469639326, + 0.04671768011674194, + 0.0509990106081645 + ], + [ + 0.8827999793045328, + 0.1289555113884556, + 0.4517019732328595, + 1.7523265613762975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.42284299445609913, + 0.1185965855082975, + -0.8984089558464856, + 0.3849139152951706 + ], + [ + -0.1696740749276299, + 0.9842276235251326, + 0.050066889133666755, + 0.04958028017126577 + ], + [ + 0.8901766736647576, + 0.13126627516556913, + 0.43629652149347314, + 1.7761082673507769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.4123325494160235, + 0.11971604344326484, + -0.9031333996893111, + 0.3643891268150924 + ], + [ + -0.1714192153246123, + 0.9838170545556156, + 0.05214840153837204, + 0.049236457487911806 + ], + [ + 0.8947610414572021, + 0.13331193535390373, + 0.4261814244926917, + 1.793200190811448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.4036898515149984, + 0.12045209132604928, + -0.9069320798598864, + 0.3376698415941514 + ], + [ + -0.17278472046417295, + 0.9834940465115392, + 0.053711273029747555, + 0.051545639443109 + ], + [ + 0.8984319362967437, + 0.13502131006452112, + 0.41783884653122466, + 1.8109365898525855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.39867490111746856, + 0.12104493216465104, + -0.909069000470389, + 0.31413733767878865 + ], + [ + -0.17352386756638896, + 0.9833021676691962, + 0.05482986815470552, + 0.053363203300327934 + ], + [ + 0.9005263963947862, + 0.13588587658147228, + 0.4130220792426307, + 1.8236406949010056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.3950667296928599, + 0.12158067394851883, + -0.9105714792436741, + 0.28528689496500415 + ], + [ + -0.1743584332748202, + 0.9831102663539608, + 0.05561781131431185, + 0.0571109434475717 + ], + [ + 0.9019542204767041, + 0.1367930696770428, + 0.4095927736820961, + 1.8373792714139487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.3921358832172969, + 0.12174429152092017, + -0.9118156483497415, + 0.2604332239486017 + ], + [ + -0.1745305816342435, + 0.983046822742414, + 0.05619626651706683, + 0.061646247145032015 + ], + [ + 0.9031990506902687, + 0.13710314284550063, + 0.4067360360898492, + 1.8476879053421358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.38918512300348557, + 0.12238993712240522, + -0.9129926852521523, + 0.22701302206244112 + ], + [ + -0.17531416130964977, + 0.9828597106318077, + 0.057023977948349715, + 0.06435833027127816 + ], + [ + 0.9043228875114553, + 0.1378676630248496, + 0.40397106655676546, + 1.8577183789010974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.38636764746447433, + 0.12284691507393306, + -0.9141272758481641, + 0.19893688362157558 + ], + [ + -0.17619283398687324, + 0.9826696859320881, + 0.057587964035945384, + 0.06948051264945015 + ], + [ + 0.9053596667868754, + 0.13881254916955132, + 0.4013165209016557, + 1.8630160577195487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.38352659410343176, + 0.1231319483064382, + -0.9152845868480921, + 0.16683524001482503 + ], + [ + -0.17719632261293775, + 0.9824696730339479, + 0.05792067697307896, + 0.08072376502856937 + ], + [ + 0.9063712345765799, + 0.1399709429661339, + 0.39862177594468934, + 1.8657102239746015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.3805616462453677, + 0.12330858221332752, + -0.9164975869905795, + 0.1348359348341692 + ], + [ + -0.17778025042601409, + 0.9823389748412555, + 0.05834656002109131, + 0.09034642190772814 + ], + [ + 0.9075059316420357, + 0.1407307075956422, + 0.3957623680621372, + 1.866680227375669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.3774501882435243, + 0.12379095330648376, + -0.917718450982871, + 0.10801809950317606 + ], + [ + -0.1781803748655299, + 0.9822150050776312, + 0.05920673790311635, + 0.09807029927654522 + ], + [ + 0.9087260915191703, + 0.1411718232503251, + 0.39279435702727655, + 1.8672595569765555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.3739311967898415, + 0.1260620963204018, + -0.9188491758382457, + 0.07591803131369454 + ], + [ + -0.178105640476674, + 0.9820403542931692, + 0.062250488914877534, + 0.1075847607015913 + ], + [ + 0.9101943973117562, + 0.14037482114344182, + 0.3896678953817418, + 1.866878935686632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.3706986626623208, + 0.1303847000358755, + -0.9195555075670645, + 0.04934054075163559 + ], + [ + -0.1774518718842622, + 0.9817998715190956, + 0.06767455540938985, + 0.113681560128986 + ], + [ + 0.9116432057911352, + 0.13808997893273045, + 0.38708890846060146, + 1.8632785062376496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.36876728793918634, + 0.13895860796266268, + -0.9190762713828796, + 0.018410649026537752 + ], + [ + -0.1752687138935179, + 0.9814211315787048, + 0.07806049206152173, + 0.12202665898639259 + ], + [ + 0.912848051581472, + 0.13229916010260134, + 0.3862711055205357, + 1.8560026632700248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.36794012797946546, + 0.14643308742448258, + -0.9182469238335561, + -0.006956516707017912 + ], + [ + -0.17254172690171807, + 0.98112387884531, + 0.08732288839305817, + 0.13053616863615172 + ], + [ + 0.9137009437995715, + 0.12630631522955374, + 0.3862606633258234, + 1.8490828412052946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.3684784717748648, + 0.15401997723604888, + -0.9167886683694707, + -0.038298364752979985 + ], + [ + -0.16895961766276565, + 0.9808507286333095, + 0.09687360702873672, + 0.14024215123904368 + ], + [ + 0.9141533041222968, + 0.11920442421199409, + 0.38744553399229525, + 1.8409485973705035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.36901732704325346, + 0.15914710006181948, + -0.9156955896386997, + -0.06523505327803603 + ], + [ + -0.1659933005105745, + 0.9806754341617291, + 0.10354669003551349, + 0.15039265325501805 + ], + [ + 0.9144793253690642, + 0.1137888104060229, + 0.38830357981729136, + 1.8353895063347943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.3711720720039257, + 0.16379668945806322, + -0.9140032480723966, + -0.09957338265117485 + ], + [ + -0.16386410464968676, + 0.9804252127501247, + 0.10915565679903674, + 0.1622101256653149 + ], + [ + 0.9139911641649874, + 0.10925679258724097, + 0.3907468555239818, + 1.82869258096153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.37526610365535573, + 0.16656286799519535, + -0.9118290204048911, + -0.13451408881338922 + ], + [ + -0.16242169678828178, + 0.9803182851988973, + 0.11222857085924917, + 0.17349520535269064 + ], + [ + 0.9125757743112315, + 0.10598523816979977, + 0.39493364687039206, + 1.8200051854710275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.3803774530239815, + 0.16715689702387843, + -0.9095996729376818, + -0.16250930391169227 + ], + [ + -0.16104459453036393, + 0.9804757443167442, + 0.11283595782851234, + 0.18503790968293854 + ], + [ + 0.9107017249371718, + 0.10356585626486971, + 0.3998705810791599, + 1.8124862603797063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.3876766794588313, + 0.1669407729198268, + -0.9065525746147907, + -0.19565454994469023 + ], + [ + -0.15936762939976917, + 0.9807928589488402, + 0.11246033316000305, + 0.1989740223700967 + ], + [ + 0.9079145063844242, + 0.1008768862123127, + 0.4068354740246181, + 1.8039618797770147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.3944197074459539, + 0.16676739452207626, + -0.9036712513423044, + -0.22400300043141624 + ], + [ + -0.15797838063931702, + 0.9810591621304083, + 0.11209706352336204, + 0.21061234813624596 + ], + [ + 0.9052490959005854, + 0.09854722991692753, + 0.413294710644684, + 1.7970719054454858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4046092705812588, + 0.1668012757073366, + -0.8991488600794124, + -0.2593098404805248 + ], + [ + -0.15710326925741813, + 0.9812854958605132, + 0.11134333568929049, + 0.22439439155468235 + ], + [ + 0.9008939454499253, + 0.09620867963022842, + 0.4232422344420217, + 1.787426742832012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.41375621632702914, + 0.16534004216490666, + -0.8952477109200827, + -0.28723371305544726 + ], + [ + -0.15576140407860808, + 0.9817264381031917, + 0.10932330825894933, + 0.23688951597443997 + ], + [ + 0.8969638668587502, + 0.09421184206949558, + 0.43194901361580995, + 1.7780471009527015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.4258791047300272, + 0.16309197593288266, + -0.8899595471372048, + -0.3185753363843803 + ], + [ + -0.15372616708704182, + 0.9823615384199372, + 0.10646160521963471, + 0.25160660264459644 + ], + [ + 0.8916250634134717, + 0.0914702969248624, + 0.4434387568463093, + 1.7669558467265183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_175/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_175/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..efecc1e01f28effe379e7491d08b0cdbba295527 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_175/tilt_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999743248116, + -0.00014251941475807938, + -0.0001761777310998027, + 0.00040110509759138654 + ], + [ + 0.0001424538878474776, + 0.9999999207012369, + -0.0003718930088944914, + 0.000213977898570741 + ], + [ + 0.00017623071910310677, + 0.00037186790214332094, + 0.9999999153284951, + 0.00026106136089527415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999464155724441, + 0.0005802537064761225, + -0.01033582553339819, + 0.01688610364956929 + ], + [ + -0.0007449012110355946, + 0.999872783146562, + -0.015933067656094906, + 0.00018716958560716722 + ], + [ + 0.010325265420633166, + 0.015939913060742227, + 0.9998196377675371, + 0.03594563590063846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998235431060998, + 0.0010820254597290943, + -0.018753982821518477, + 0.03091870662020975 + ], + [ + -0.0016348413643253034, + 0.9995638258603915, + -0.029487036559319876, + -0.0005779647408564 + ], + [ + 0.01871389709490792, + 0.029512493155300756, + 0.9993892148724038, + 0.06558563268895266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995821885546862, + 0.002222333381469129, + -0.028818562742879632, + 0.04943028726062527 + ], + [ + -0.003569022603292779, + 0.9988996349759695, + -0.04676303371822678, + 0.0006170347896027364 + ], + [ + 0.028682928753543762, + 0.04684634968934546, + 0.9984902148338273, + 0.10224180359113555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992762272599914, + 0.0028184150771338864, + -0.037935183794082415, + 0.0659794789009085 + ], + [ + -0.005142371516745327, + 0.9981059030876959, + -0.0613038517279198, + 0.0023097088110255386 + ], + [ + 0.037690551179594, + 0.0614545584798068, + 0.9973979945808145, + 0.13288077784274374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987862364887721, + 0.003679075535452771, + -0.04911739207041607, + 0.08496014804647932 + ], + [ + -0.007446235761044641, + 0.9970236400929533, + -0.07673600633853651, + 0.0029513797077855286 + ], + [ + 0.04868888347031055, + 0.07700860665536943, + 0.9958408844425966, + 0.17001346292432806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9982725937070716, + 0.00454076334819304, + -0.05857653217434242, + 0.09935890908419988 + ], + [ + -0.009741123882583504, + 0.996001701180113, + -0.08880158642628547, + 0.0023017198366941704 + ], + [ + 0.057939098705970804, + 0.08921879126359307, + 0.9943254337120233, + 0.20063637934727094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975024047313189, + 0.005397436006664319, + -0.07042599122334027, + 0.11581939134239942 + ], + [ + -0.012472059211492633, + 0.9948684055780678, + -0.10040569367111751, + 0.0013929504062416883 + ], + [ + 0.06952266029332493, + 0.10103327801822146, + 0.9924509440968011, + 0.2356833209139271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99671417545069, + 0.00587057000266365, + -0.08078606849881897, + 0.13045916070544744 + ], + [ + -0.014706654950946984, + 0.993908711285832, + -0.10922082187152395, + -0.00010500165192784826 + ], + [ + 0.07965278875096483, + 0.11005003424797834, + 0.99072923808991, + 0.26393087381737335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9956322739207117, + 0.006736051646146776, + -0.09311820840036353, + 0.14814905161974345 + ], + [ + -0.01774152502143345, + 0.9928703245702759, + -0.11787178151546408, + -0.0019028756761399063 + ], + [ + 0.09166031538996, + 0.11900900888561289, + 0.9886532467891245, + 0.2963505440042454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9943875200185416, + 0.006797133561968234, + -0.10558058063259426, + 0.16561954386727185 + ], + [ + -0.01991793677012896, + 0.9921170535300646, + -0.12372157406711407, + -0.0027252200681434414 + ], + [ + 0.10390734250377166, + 0.12513013653858138, + 0.9866842013043688, + 0.32826775079353615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9931179820773562, + 0.0068759648616970774, + -0.11691618699658546, + 0.1802189514843202 + ], + [ + -0.021985475431662835, + 0.9914734200285832, + -0.1284410224455891, + -0.003406034014544787 + ], + [ + 0.11503613582106963, + 0.13012754698389298, + 0.9848012535386574, + 0.35591182200117855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9912947208473627, + 0.007847433908914047, + -0.13142752451901069, + 0.19671679929591473 + ], + [ + -0.0254667932965554, + 0.9907990013894779, + -0.13292396805995862, + -0.0024324103453488427 + ], + [ + 0.12917514799426572, + 0.135113865412324, + 0.9823736684754945, + 0.3904221286460976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9895769095917887, + 0.008357154685364286, + -0.14376264455111412, + 0.21035285144543078 + ], + [ + -0.028220930268993943, + 0.9902113116910675, + -0.13669358907354887, + -0.0008633495770897032 + ], + [ + 0.14121302736475017, + 0.1393259350035755, + 0.9801260963457008, + 0.4193913669769218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9872727630466107, + 0.008792018360060445, + -0.1587929209992289, + 0.22801082665747002 + ], + [ + -0.03146133070128743, + 0.9895354854635896, + -0.14081799486870436, + 0.00011831580887235323 + ], + [ + 0.15589315577284082, + 0.14402160748128934, + 0.9772180414634649, + 0.45327060560301197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9851856285032735, + 0.008679835150175959, + -0.171271532521829, + 0.2434738738137295 + ], + [ + -0.033865246764918894, + 0.9888983636983605, + -0.14468300292797498, + 0.0007838753526520138 + ], + [ + 0.16811431364449997, + 0.14833976788599554, + 0.9745424007252675, + 0.48046265826935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9824749102369982, + 0.008387198917668998, + -0.18620608381338818, + 0.2617107728044683 + ], + [ + -0.036526515308598635, + 0.9882812438072888, + -0.1482093007139892, + 0.0011157318556971358 + ], + [ + 0.1827809192290426, + 0.15241337878622868, + 0.971267881448137, + 0.5124264760195648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9795224524595014, + 0.008766812929649278, + -0.20114399846572772, + 0.2784669590201051 + ], + [ + -0.03997029914929495, + 0.98763345887843, + -0.15159988815874778, + 0.0010833233430815326 + ], + [ + 0.19732749507770075, + 0.15653528003260322, + 0.9677595599070437, + 0.5444952382050141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9768533003872035, + 0.008820327705938208, + -0.2137284055566506, + 0.291089353447925 + ], + [ + -0.04276007612958463, + 0.9870352940662411, + -0.15470263138344284, + 0.003019029828762107 + ], + [ + 0.2095929517231445, + 0.1602608189381582, + 0.9645658424914553, + 0.5718204911792616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9734614728326831, + 0.009277740605596706, + -0.22866281822735976, + 0.30591835387300065 + ], + [ + -0.0463119411153504, + 0.9864909592358548, + -0.15713303744296206, + 0.005820444065320734 + ], + [ + 0.22411596333271672, + 0.16355277703291454, + 0.9607406122904715, + 0.6063167317640995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9704272119518719, + 0.009305261637007027, + -0.24121450704545855, + 0.3185348833704852 + ], + [ + -0.049223627664539, + 0.9858891785715862, + -0.15999863141597764, + 0.007626727396735658 + ], + [ + 0.2363219430837085, + 0.16714047888321334, + 0.9571917255888868, + 0.6352692213035019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9666136811391592, + 0.008744862661769172, + -0.2560888884970032, + 0.33409190264351846 + ], + [ + -0.05204790377580922, + 0.985283536141123, + -0.16281083846534486, + 0.010090040740090655 + ], + [ + 0.2508964072025501, + 0.17070407372488597, + 0.9528436976055311, + 0.6693030073510784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9632760513654829, + 0.008233633946710159, + -0.2683867659512212, + 0.34646708838578977 + ], + [ + -0.054543723590466164, + 0.9846908880658418, + -0.16555614508978858, + 0.011402567924940222 + ], + [ + 0.2629148742133294, + 0.17411508329876502, + 0.948978243525769, + 0.6975592395707143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9590120656473553, + 0.008240817479355568, + -0.2832453827868431, + 0.3595629425346357 + ], + [ + -0.05814844973438975, + 0.9840278915386884, + -0.16824941743557603, + 0.012538628659757984 + ], + [ + 0.27733484407171144, + 0.17782350126233462, + 0.9441738116800976, + 0.7316546979539161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9544149295179158, + 0.007916690899189723, + -0.29837806273001966, + 0.37266438275260816 + ], + [ + -0.06152924187838174, + 0.9833965349671984, + -0.17072026068507618, + 0.014651387293415554 + ], + [ + 0.29207241346485374, + 0.1812969415619454, + 0.9390554425980934, + 0.7668660643117134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9502603067166966, + 0.007213235553751614, + -0.3113732787371714, + 0.3852392226152948 + ], + [ + -0.06427078717799407, + 0.9827560742383332, + -0.17337752006295776, + 0.015213568380718332 + ], + [ + 0.30475336814252135, + 0.18476598112343737, + 0.9343376888605548, + 0.7954113489985647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9449432086409766, + 0.0063835919786032185, + -0.32717209874429476, + 0.40122643804617253 + ], + [ + -0.06766477601676567, + 0.9820134397195385, + -0.17626991319224478, + 0.015362633123368524 + ], + [ + 0.3201621628642222, + 0.18870308413921405, + 0.9283788749785575, + 0.8290939998841569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9402887712945442, + 0.004929756463862219, + -0.34034206921655075, + 0.41498965574422236 + ], + [ + -0.06991299644308907, + 0.9813730182136386, + -0.17893901768647952, + 0.01607648623314286 + ], + [ + 0.3331203979130444, + 0.19204868295164282, + 0.9231186835238439, + 0.8572658358752857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9343927536165982, + 0.004053841310146219, + -0.3562214877845293, + 0.42909837213997576 + ], + [ + -0.07341722007194, + 0.9806616836836266, + -0.18141822938090665, + 0.016835881527293126 + ], + [ + 0.348597323262385, + 0.19566867027050366, + 0.9166207927430369, + 0.8902888828620226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9292582333292438, + 0.0035380930087549538, + -0.36941388399419184, + 0.4384083433185321 + ], + [ + -0.0767440618698744, + 0.979988854267099, + -0.1836632638280488, + 0.018162348708887114 + ], + [ + 0.36137167121611197, + 0.19902092204117627, + 0.9109342390273594, + 0.9189344912680895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9228723541898872, + 0.002918413559747381, + -0.38509492431647246, + 0.44780853008819 + ], + [ + -0.08036729552059826, + 0.9794135317944743, + -0.1851762175566268, + 0.020234110984674796 + ], + [ + 0.37662675911666205, + 0.2018430494224873, + 0.904108216817606, + 0.9538016943566445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9173649231222568, + 0.0018369949472572809, + -0.3980429917414195, + 0.4555603980559306 + ], + [ + -0.0831698406020378, + 0.978801653010413, + -0.18716330216769234, + 0.020542214427350915 + ], + [ + 0.3892613202453175, + 0.2048022204802649, + 0.8980710857427855, + 0.9823649772728525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.910461718127594, + 0.0003277818376175544, + -0.4135932209106151, + 0.465763619984965 + ], + [ + -0.08626001139852238, + 0.9781592507005885, + -0.18911290464267816, + 0.02040139890881117 + ], + [ + 0.40449804728536914, + 0.20785661603117384, + 0.8906048264603067, + 1.0164121120183998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9031461137316996, + -0.0012264572383155943, + -0.4293315654060052, + 0.4753357991938547 + ], + [ + -0.08941240252876709, + 0.9775324818552674, + -0.19088129607668514, + 0.02104134347729288 + ], + [ + 0.41991965841737156, + 0.2107812674801155, + 0.8827450015458113, + 1.0509680782476942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8964892072820134, + -0.002350467922678285, + -0.44305933747909215, + 0.4817784021597045 + ], + [ + -0.09255606941579081, + 0.976929903440767, + -0.1924612630570459, + 0.021179120863250044 + ], + [ + 0.43329028980715334, + 0.21354727594553521, + 0.8755895646334958, + 1.0813232037858984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.887751376465565, + -0.003565644989564089, + -0.46030943913774264, + 0.48718162020890443 + ], + [ + -0.09624449426469031, + 0.9764314141241737, + -0.1931804618360795, + 0.023182328807965898 + ], + [ + 0.4501494095377986, + 0.2157984700763084, + 0.8664851582142051, + 1.1195379010656756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8799020198975914, + -0.005005526043703456, + -0.4751288036829219, + 0.4913390766309224 + ], + [ + -0.0995093855542821, + 0.9758292168988075, + -0.19456418383985583, + 0.02495333808955725 + ], + [ + 0.4646184645133552, + 0.2184771936740441, + 0.8581360022033608, + 1.1517799159255284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.869910379312775, + -0.0064120729950774905, + -0.4931681430139318, + 0.4971690696557214 + ], + [ + -0.10339256828047062, + 0.975326897013873, + -0.19505748072211565, + 0.02516109192836972 + ], + [ + 0.48225087743649814, + 0.22067244794309077, + 0.8477840302403271, + 1.1902384002998723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8611613227153098, + -0.007439568466915339, + -0.5082773151344104, + 0.5012526861547141 + ], + [ + -0.10650887498899826, + 0.9750575593217757, + -0.19472702831923486, + 0.02715796803423482 + ], + [ + 0.49704832341312316, + 0.2218274302932084, + 0.838889477441287, + 1.2235750930193654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8503374638267757, + -0.007654067717911812, + -0.5261821099771604, + 0.5042152369546192 + ], + [ + -0.11028078557958317, + 0.9750994728998935, + -0.19240365454507286, + 0.029603541135585405 + ], + [ + 0.5145525686891447, + 0.2216358120830642, + 0.8283195161637107, + 1.2632087114713006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8410756226722655, + -0.0076760205642990185, + -0.5408630840191979, + 0.5058456029865354 + ], + [ + -0.11369135368119326, + 0.9750551151492032, + -0.19063524993954442, + 0.031686587061577134 + ], + [ + 0.5288346367671083, + 0.22183011772451278, + 0.8192223909450534, + 1.2951257275774541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8293962682544025, + -0.006604699166201935, + -0.5586217039773838, + 0.5071440426681717 + ], + [ + -0.11792948724591464, + 0.9753277644627393, + -0.18662365312583365, + 0.03596498938103717 + ], + [ + 0.5460718508068214, + 0.22066293258506242, + 0.8081543193842209, + 1.3323179894032418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8168289469851151, + -0.005147836593804678, + -0.576856976334335, + 0.5096431326698507 + ], + [ + -0.12194620584510847, + 0.9758222205560726, + -0.18138389330091648, + 0.03840662172778084 + ], + [ + 0.5638435902332937, + 0.21850513414430175, + 0.7964520777205684, + 1.3683116540443292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8056992815913839, + -0.005133912465695434, + -0.5923025498728858, + 0.5124596404997348 + ], + [ + -0.12513209125800442, + 0.9759188132685155, + -0.1786740877854732, + 0.03997937935226866 + ], + [ + 0.5789564986944409, + 0.2180736408907943, + 0.7856546695387908, + 1.3973040983212819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7911380651610294, + -0.00568309694484479, + -0.6116112035128024, + 0.5155317608090167 + ], + [ + -0.12876117320027752, + 0.9760001116959733, + -0.17562557400770515, + 0.04205669260760556 + ], + [ + 0.5979307001060835, + 0.21769585291999313, + 0.7714190777340717, + 1.4318222020334628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7779044761942104, + -0.00683504823068767, + -0.6283453732086324, + 0.5158788785088383 + ], + [ + -0.13223889083756524, + 0.975767581808407, + -0.1743287183507769, + 0.04305295189937282 + ], + [ + 0.6143105905542097, + 0.21870278555029465, + 0.7581501104171128, + 1.460131167113166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7606213244835355, + -0.0075161765190821725, + -0.6491522994116605, + 0.5128846804992533 + ], + [ + -0.13726959582067147, + 0.9754622229516233, + -0.17213514939577865, + 0.04503751900733657 + ], + [ + 0.6345173431862535, + 0.22003853908988655, + 0.7409256254922263, + 1.494364534827465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7449970186653966, + -0.008534682530119728, + -0.6670131943026173, + 0.5090242938637812 + ], + [ + -0.14146838170036977, + 0.9751519687008897, + -0.17048558566007205, + 0.04634607178655849 + ], + [ + 0.6518942699232365, + 0.22137253021296333, + 0.7252779217019925, + 1.5234843209220408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.725184409430393, + -0.010101028963866554, + -0.6884806035996682, + 0.5032841486076051 + ], + [ + -0.14627730759564336, + 0.9748086944472563, + -0.16837742875042866, + 0.04636963305832333 + ], + [ + 0.672837663631921, + 0.22281377525617052, + 0.7054385160695659, + 1.558040988524519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7048802156772062, + -0.012406001855382204, + -0.7092178598038972, + 0.49629837387408027 + ], + [ + -0.150541232711476, + 0.9744535556758642, + -0.16666614858565454, + 0.046923111868755266 + ], + [ + 0.6931675257833169, + 0.2242462016370188, + 0.6850054176798932, + 1.5919005735427993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6873235050474943, + -0.014975550526862448, + -0.7261970340724648, + 0.4890462913192109 + ], + [ + -0.15396100446715338, + 0.9740658157506726, + -0.16580650074542355, + 0.047361334945835096 + ], + [ + 0.7098467500191097, + 0.22576873005886877, + 0.6671926798271347, + 1.6188952898669053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6657536839548845, + -0.017330439786588735, + -0.7459702997823056, + 0.4769063655933481 + ], + [ + -0.15874681636059648, + 0.9735537748713486, + -0.16429393089558203, + 0.04817562204092088 + ], + [ + 0.7290894873716631, + 0.22779969993516375, + 0.6453958600065347, + 1.6492189789583653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6472837471473585, + -0.019642108623940308, + -0.7619960224618498, + 0.46329272648824305 + ], + [ + -0.16266020803361086, + 0.9730822257972385, + -0.1632563584058967, + 0.050501277843266426 + ], + [ + 0.744691484711177, + 0.22961961894902946, + 0.6266653199215396, + 1.6739358654159033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6248182223352841, + -0.022035285965588954, + -0.7804592463480657, + 0.4443506658207541 + ], + [ + -0.16731924968526435, + 0.972599802471525, + -0.16141218329825988, + 0.051799224371729236 + ], + [ + 0.7626312724525112, + 0.23143912894056096, + 0.6040111521095438, + 1.701825476963927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.607674307695564, + -0.0245763571038026, + -0.7938059828687508, + 0.42752703087767474 + ], + [ + -0.17081530208721737, + 0.9720836966638651, + -0.16085838260149096, + 0.050663227052624916 + ], + [ + 0.7755991673149022, + 0.23334371504675536, + 0.5865122695294694, + 1.7246774126078053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5911826881430289, + -0.027732027731531335, + -0.8060607693455131, + 0.40724708125205544 + ], + [ + -0.17340135329161538, + 0.9716674774622055, + -0.16060598967308598, + 0.0509990106081645 + ], + [ + 0.7876769641906632, + 0.23471950894659904, + 0.5696242201690942, + 1.7523265613762975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.5794844776035333, + -0.03032728728334781, + -0.8144188086375421, + 0.3849139152951706 + ], + [ + -0.17595683270999707, + 0.9710829853449795, + -0.16135993491616346, + 0.04958028017126577 + ], + [ + 0.7957618571150707, + 0.2368081316583442, + 0.5573912230572509, + 1.7761082673507769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.572668042144161, + -0.03276221748681239, + -0.8191324377731115, + 0.3643891268150924 + ], + [ + -0.1781166918582607, + 0.9703587909540028, + -0.16333481227146707, + 0.049236457487911806 + ], + [ + 0.800203572591527, + 0.2394377871674243, + 0.5498579711963121, + 1.793200190811448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.5675481596948759, + -0.035376875642883374, + -0.8225798217174474, + 0.3376698415941514 + ], + [ + -0.17981524458080794, + 0.9696328475894975, + -0.165766759912314, + 0.051545639443109 + ], + [ + 0.8034647249526912, + 0.24199301135617632, + 0.5439520366828915, + 1.8109365898525855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5656987676874163, + -0.03771658099125609, + -0.8237489688948137, + 0.31413733767878865 + ], + [ + -0.18082026378171698, + 0.9689673753565949, + -0.16854156075123536, + 0.053363203300327934 + ], + [ + 0.8045426877691756, + 0.24429425906656524, + 0.5413237280447525, + 1.8236406949010056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5651193163641494, + -0.03994944207842256, + -0.8240413826682124, + 0.28528689496500415 + ], + [ + -0.18185868158925383, + 0.9682259629947221, + -0.17165635587872008, + 0.0571109434475717 + ], + [ + 0.8047158369280021, + 0.2468654019107704, + 0.5398980414269893, + 1.8373792714139487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5651607167709236, + -0.042475000515627595, + -0.8238866660834929, + 0.2604332239486017 + ], + [ + -0.1822083401600104, + 0.9675844760969691, + -0.17487253184044507, + 0.061646247145032015 + ], + [ + 0.804607659045767, + 0.2489501073455301, + 0.5391014367051337, + 1.8476879053421358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5651748171841218, + -0.044517096587929204, + -0.8237691752744064, + 0.22701302206244112 + ], + [ + -0.18320865053011925, + 0.9668351287942979, + -0.17794500302128843, + 0.06435833027127816 + ], + [ + 0.8043705715600413, + 0.2514916735017179, + 0.5382749499721106, + 1.8577183789010974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5653160751881303, + -0.046731233225617494, + -0.823549589870034, + 0.19893688362157558 + ], + [ + -0.18425036376966206, + 0.9660150596665902, + -0.1812917757321094, + 0.06948051264945015 + ], + [ + 0.8040332944503203, + 0.2542264666366726, + 0.5374935953821194, + 1.8630160577195487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.565443983870901, + -0.049119862259633267, + -0.8233227436648398, + 0.16683524001482503 + ], + [ + -0.18536654370548056, + 0.9651198708407788, + -0.18488612544743085, + 0.08072376502856937 + ], + [ + 0.8036867210417807, + 0.25715923868271506, + 0.5366160455868217, + 1.8657102239746015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.565467766649601, + -0.05163214341315124, + -0.8231526751744639, + 0.1348359348341692 + ], + [ + -0.18609106754823262, + 0.9643156863914164, + -0.188322520050605, + 0.09034642190772814 + ], + [ + 0.8035025323289725, + 0.2596716749012399, + 0.5356811568413745, + 1.866680227375669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.5653559297567246, + -0.053855415139325444, + -0.8230870348566308, + 0.10801809950317606 + ], + [ + -0.18672905674537404, + 0.9636043018958181, + -0.19130867396659218, + 0.09807029927654522 + ], + [ + 0.8034332156787474, + 0.2618517588790342, + 0.5347230351462929, + 1.8672595569765555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.564832825013318, + -0.05433506550600886, + -0.8234145860038751, + 0.07591803131369454 + ], + [ + -0.18738143053037584, + 0.9633194001719125, + -0.19210396337612917, + 0.1075847607015913 + ], + [ + 0.8036492265160623, + 0.26279922737497724, + 0.5339330358867584, + 1.866878935686632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.564501635730416, + -0.0527139567700371, + -0.8237470133598855, + 0.04934054075163559 + ], + [ + -0.18801192129724836, + 0.9635150766794544, + -0.19049990672308095, + 0.113681560128986 + ], + [ + 0.803734670589618, + 0.26241176759633306, + 0.5339949845449545, + 1.8632785062376496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5651762740985498, + -0.04663078672151532, + -0.8236512301489106, + 0.018410649026537752 + ], + [ + -0.18829630573724804, + 0.9647552925332412, + -0.18382526152519243, + 0.12202665898639259 + ], + [ + 0.8031938000518841, + 0.25898416024697946, + 0.5364763967775107, + 1.8560026632700248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.56684050039849, + -0.041484973433459416, + -0.82278237954347, + -0.006956516707017912 + ], + [ + -0.18786337096800315, + 0.9659080447601892, + -0.17812636782937824, + 0.13053616863615172 + ], + [ + 0.8021216871251693, + 0.2555399108686815, + 0.5397222924770649, + 1.8490828412052946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5696785965804954, + -0.036010843714099856, + -0.8210782640729665, + -0.038298364752979985 + ], + [ + -0.18672576142046338, + 0.96724252819361, + -0.17197494490646573, + 0.14024215123904368 + ], + [ + 0.8003747788505241, + 0.2512869093061404, + 0.5442932138023975, + 1.8409485973705035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5725862390268659, + -0.03299845560147265, + -0.8191801394107322, + -0.06523505327803603 + ], + [ + -0.18557938713543004, + 0.9680378072375506, + -0.16871009107090576, + 0.15039265325501805 + ], + [ + 0.7985645183374398, + 0.24862402475752976, + 0.5481612941150262, + 1.8353895063347943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5769081681085799, + -0.03020735748633606, + -0.8162502564307683, + -0.09957338265117485 + ], + [ + -0.18503957598719925, + 0.9685023779338648, + -0.16662382559204006, + 0.1622101256653149 + ], + [ + 0.7955735798077259, + 0.2471652473349394, + 0.5531473760416641, + 1.82869258096153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5829769623274604, + -0.028997530610298583, + -0.8119710614387388, + -0.13451408881338922 + ], + [ + -0.18459534030465166, + 0.9685011568360674, + -0.16712291747396374, + 0.17349520535269064 + ], + [ + 0.7912410642359617, + 0.24731488516808736, + 0.5592610533919191, + 1.8200051854710275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5899927096141495, + -0.029786500158492445, + -0.806858951124955, + -0.16250930391169227 + ], + [ + -0.18363519118522514, + 0.9681793950920844, + -0.17001992670711294, + 0.18503790968293854 + ], + [ + 0.7862485097986008, + 0.24847821499567, + 0.5657489350516234, + 1.8124862603797063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5988991222493195, + -0.03099070441722092, + -0.800224604475968, + -0.19565454994469023 + ], + [ + -0.1821465137634196, + 0.9677891567479365, + -0.1738010230261911, + 0.1989740223700967 + ], + [ + 0.7798349113067634, + 0.2498474020694285, + 0.5739632277300788, + 1.8039618797770147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6072707299288387, + -0.032172614797774224, + -0.7938432990387774, + -0.22400300043141624 + ], + [ + -0.18093791533641937, + 0.9673230458737624, + -0.17761642861857624, + 0.21061234813624596 + ], + [ + 0.7736173029123681, + 0.2514976098864184, + 0.5816057262923162, + 1.7970719054454858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6185270766278053, + -0.03248020438509807, + -0.785091900226568, + -0.2593098404805248 + ], + [ + -0.18012623515862436, + 0.9666776675332575, + -0.181903343839636, + 0.22439439155468235 + ], + [ + 0.7648390646965159, + 0.25392779173529456, + 0.5920657748076609, + 1.787426742832012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6288821766786105, + -0.0343813172325203, + -0.7767400677712785, + -0.28723371305544726 + ], + [ + -0.17853431843337958, + 0.9659411446351472, + -0.18730510468876885, + 0.23688951597443997 + ], + [ + 0.7567249863705454, + 0.2564676005391302, + 0.6013249245426299, + 1.7780471009527015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6417061063055234, + -0.03642664462378961, + -0.7660850949415845, + -0.3185753363843803 + ], + [ + -0.17604236596882966, + 0.9652060814361606, + -0.19335538715729766, + 0.25160660264459644 + ], + [ + 0.74647328050929, + 0.2589407652728785, + 0.6129660035969329, + 1.7669558467265183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_199/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_199/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9c9520b4719cdece4a9cf14270dfa540a570b68d --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_199/move_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999995215758, + 1.6856370052417727e-05, + 2.593667788018041e-05, + -0.00010134775118467604 + ], + [ + -1.6856495782291647e-05, + 0.9999999998461808, + 4.8473595105874235e-06, + -8.68453831984716e-05 + ], + [ + -2.5936596167305162e-05, + -4.847796709769624e-06, + 0.999999999651896, + -5.909470106208388e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999145661183, + 0.0001934888342663154, + 0.0003652804773259352, + 0.002431879010903564 + ], + [ + -0.00019336795781233217, + 0.9999999265502575, + -0.0003309204021476594, + -0.0005591416462006313 + ], + [ + -0.00036534447989902463, + 0.00033084974033591565, + 0.9999998785309228, + 0.020939985400887942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999996253554834, + 0.0003530145382227558, + 0.0007903604424884228, + 0.0032489856456707476 + ], + [ + -0.0003522029990298279, + 0.9999994109197448, + -0.0010267001564515739, + 0.00023744380878537003 + ], + [ + -0.0007907224169843145, + 0.001026421404485831, + 0.9999991606082277, + 0.040589187350545584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999987260480955, + 0.0008898657563909167, + 0.0013251570178189087, + 0.004069922747802648 + ], + [ + -0.0008889313436745899, + 0.999999355995899, + -0.000705555705728644, + -0.0011859223808128407 + ], + [ + -0.0013257840142741088, + 0.0007043768332761792, + 0.9999988730743773, + 0.061704643889354205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999983650406569, + 0.0009673691827859774, + 0.0015277803760932376, + 0.004999430316392345 + ], + [ + -0.000965526011852947, + 0.9999988057994499, + -0.0012067142141913199, + -0.0019740064060421035 + ], + [ + -0.0015289458897603104, + 0.0012052371295691242, + 0.9999981048621681, + 0.08083753122661058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999987859689907, + 0.000666637380543136, + 0.0014084229292826583, + 0.006403483642375337 + ], + [ + -0.0006637051425239939, + 0.9999976136888276, + -0.0020813726563157406, + -0.0017424437479568392 + ], + [ + -0.001409807089162827, + 0.00208043535192378, + 0.9999968421113729, + 0.10230210285506788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999992620581808, + 0.000769264267471251, + 0.0009402742051244019, + 0.00743030683122132 + ], + [ + -0.0007678269453630836, + 0.9999985377873474, + -0.0015280264884487465, + -0.002525698128730408 + ], + [ + -0.0009414482864208754, + 0.0015273033929833755, + 0.9999983905084397, + 0.12331256788403938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999990697227856, + 0.001361839622767875, + 7.711293934064982e-05, + 0.007550410393638837 + ], + [ + -0.0013617808771747726, + 0.9999987863964708, + -0.000756808052576101, + -0.0043738388725693845 + ], + [ + -7.81434969489424e-05, + 0.0007567023376086371, + 0.9999997106475413, + 0.14205265564638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999984871738924, + 0.0016418317147160444, + -0.0005744898147552843, + 0.007094169554063787 + ], + [ + -0.0016431703657456146, + 0.9999959180457615, + -0.002337495019020251, + -0.002672843460948258 + ], + [ + 0.0005706496962589316, + 0.002338435467435788, + 0.9999971030350483, + 0.16454367657562716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967536103008, + 0.0021378437568503952, + -0.0013865038516863279, + 0.007159699376860146 + ], + [ + -0.0021392381341245508, + 0.9999972068372968, + -0.0010049765222542495, + -0.0035249796229829267 + ], + [ + 0.001384351496171599, + 0.0010079393216214578, + 0.9999985338135546, + 0.18568532657729564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999939897310455, + 0.002293252473490555, + -0.002600287460824972, + 0.007660606549765928 + ], + [ + -0.0022955368384731285, + 0.9999969816846551, + -0.0008758608354735807, + -0.004058571975771609 + ], + [ + 0.002598271042310044, + 0.0008818246269713362, + 0.9999962356793741, + 0.20450329004245268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999890758249086, + 0.0022661694978603625, + -0.004088117739532896, + 0.0082280888816105 + ], + [ + -0.0022741291293530367, + 0.9999955257185443, + -0.001943419562312369, + -0.003368647403703111 + ], + [ + 0.0040836953300098485, + 0.0019526952396924906, + 0.9999897551543978, + 0.2264962854108038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999838570946844, + 0.0023926246072426337, + -0.00515372656694806, + 0.008632233959553226 + ], + [ + -0.002401128654289877, + 0.9999957650547573, + -0.0016445223429740019, + -0.0040708213971958835 + ], + [ + 0.005149770016573292, + 0.0016568705561418036, + 0.9999853672173092, + 0.24784985710716884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999807768075124, + 0.0027064204932515375, + -0.005578647108177129, + 0.008491349280181328 + ], + [ + -0.002713217094223856, + 0.9999955858153085, + -0.0012111163848063096, + -0.004956910286006613 + ], + [ + 0.005575344692794912, + 0.0012262291839794685, + 0.9999837058140222, + 0.26713190216852145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999792718060511, + 0.003153057619438114, + -0.005613749717303639, + 0.007940658730419485 + ], + [ + -0.0031634854718491736, + 0.9999932855620081, + -0.0018496460660705647, + -0.0045594511312185134 + ], + [ + 0.0056078799835073715, + 0.0018673667419214575, + 0.9999825321592082, + 0.28941475599373867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999785855544328, + 0.0035527368636810394, + -0.005496043425363709, + 0.007272334824555669 + ], + [ + -0.003563593335713599, + 0.9999917162260312, + -0.0019667948175796915, + -0.004233886297280284 + ], + [ + 0.005489010392930538, + 0.001986338363482547, + 0.9999829624672674, + 0.30901657848544783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999780016728858, + 0.00384656955313367, + -0.005403709186745049, + 0.007515499577237631 + ], + [ + -0.0038531159637087264, + 0.9999918548203584, + -0.0012015782576935597, + -0.006573926555497793 + ], + [ + 0.00539904321822124, + 0.0012223729431126806, + 0.9999846779509752, + 0.3298102382371227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999803238492876, + 0.00316682185408325, + -0.005415085744352765, + 0.008700433364401197 + ], + [ + -0.0031837984227555574, + 0.9999900353747744, + -0.0031293096301028196, + -0.005229595488113504 + ], + [ + 0.005405121818927954, + 0.003146488598786868, + 0.9999804419425514, + 0.35171324691742184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999787472161429, + 0.0029484977232020026, + -0.005814763727793374, + 0.010124518529692785 + ], + [ + -0.0029630414220727275, + 0.9999924997950995, + -0.0024941409501428174, + -0.005933332081923016 + ], + [ + 0.005807366146961126, + 0.002511317328489312, + 0.9999799836915292, + 0.37059754505056175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999771919389182, + 0.003037721267806425, + -0.006032234366760789, + 0.011569672258803877 + ], + [ + -0.003049097259566711, + 0.9999935888538362, + -0.0018775668102696361, + -0.007468040671034451 + ], + [ + 0.006026492168593285, + 0.0018959168558878965, + 0.999980043246573, + 0.3918039105686139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999773405125035, + 0.0031179555553576235, + -0.005966306620989022, + 0.012470932319026701 + ], + [ + -0.0031336371034640484, + 0.9999916558009087, + -0.002620810382517767, + -0.007023114651104789 + ], + [ + 0.005958085266647026, + 0.0026394472360958474, + 0.9999787670437026, + 0.41175055883061895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999755459898036, + 0.003385132932605306, + -0.006119501403104656, + 0.013796638658991969 + ], + [ + -0.0034041296076789004, + 0.9999894116184797, + -0.003096538800176273, + -0.006678515963241724 + ], + [ + 0.006108954412019518, + 0.0031172946532954213, + 0.9999764812984535, + 0.4335642259070964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999691162944871, + 0.003819756572394349, + -0.006868472679585244, + 0.01595776489211033 + ], + [ + -0.0038348767200996575, + 0.9999902497188564, + -0.002189563372245355, + -0.008567757856778883 + ], + [ + 0.006860042110963781, + 0.002215835496396547, + 0.9999740146100242, + 0.45429527945278547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999636854616797, + 0.0036434963380676142, + -0.007704069854905384, + 0.01857295540208582 + ], + [ + -0.003664812394614827, + 0.9999894907414753, + -0.002754551999357937, + -0.008717750893873015 + ], + [ + 0.007693952690720909, + 0.002782685939767037, + 0.9999665293153334, + 0.4738427466784647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999543778146956, + 0.0029303843962158833, + -0.009091487035436847, + 0.021818868855992365 + ], + [ + -0.002961119062413059, + 0.9999899408185106, + -0.003368981402458297, + -0.007678180754743274 + ], + [ + 0.009081523171985843, + 0.0033957486777307804, + 0.9999529963092239, + 0.4956673932298783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999492790230674, + 0.0029861501972426293, + -0.009618850671867376, + 0.02482330034220619 + ], + [ + -0.0030026702467596525, + 0.9999940410413244, + -0.0017034826772234705, + -0.009811664528800454 + ], + [ + 0.009613706498401122, + 0.001732278511638334, + 0.9999522867909855, + 0.5163592822425839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999456561519281, + 0.003384972700980726, + -0.009860360171090349, + 0.02633210100983953 + ], + [ + -0.0034134179721112116, + 0.9999900574790965, + -0.0028694112115289164, + -0.00901753401206258 + ], + [ + 0.00985054925563432, + 0.002902912807301471, + 0.9999472684979921, + 0.536894299855568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999451682261901, + 0.003921654958964931, + -0.009709848787680626, + 0.02786535601654381 + ], + [ + -0.003955507742528127, + 0.9999861575032648, + -0.0034696916800666514, + -0.008820884007550725 + ], + [ + 0.009696107445547268, + 0.003507908812775707, + 0.9999468386250171, + 0.5586670926299034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999422479498654, + 0.004121740665226972, + -0.009925322103525099, + 0.030241865668855283 + ], + [ + -0.00414853696490253, + 0.9999878016210613, + -0.0026807182112354925, + -0.00995500073421195 + ], + [ + 0.009914151805421725, + 0.002721738959897998, + 0.9999471494689174, + 0.5794054202295211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999347241938108, + 0.0038837916853277036, + -0.01074539499472139, + 0.03312889938864965 + ], + [ + -0.003910978962295307, + 0.999989201316625, + -0.0025102776131361443, + -0.00996034167618562 + ], + [ + 0.010735529563281339, + 0.0025521387665070963, + 0.9999391156429038, + 0.598276624342771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999229778667932, + 0.0033488602832924485, + -0.011950877323763372, + 0.03688172540682085 + ], + [ + -0.003388417789799931, + 0.9999888429321969, + -0.0032912970099816495, + -0.009076690958587486 + ], + [ + 0.011939721893177518, + 0.00333153807259248, + 0.9999231689960907, + 0.6197294724998123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999914007027228, + 0.002996618445015381, + -0.01276709946102501, + 0.039910040187895346 + ], + [ + -0.003034591574631911, + 0.9999910267299726, + -0.002955962366202586, + -0.010804634586155819 + ], + [ + 0.012758127007044744, + 0.0029944511066682285, + 0.9999141280419245, + 0.6386471138647128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998995088494029, + 0.003473943892664676, + -0.013744232119457933, + 0.04247077017988861 + ], + [ + -0.003525739231322199, + 0.9999867679341757, + -0.003746080542893996, + -0.011840597816306496 + ], + [ + 0.013731036581250406, + 0.003794162673337983, + 0.9998985263335539, + 0.6599371834153245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999882769705124, + 0.0035346857804858466, + -0.014898081864573655, + 0.04485592723504776 + ], + [ + -0.003597596925586737, + 0.999984716570902, + -0.004198085393844636, + -0.010505934750478101 + ], + [ + 0.014883015258048892, + 0.0042511905445691296, + 0.9998802044424036, + 0.6817164848033898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998607994725983, + 0.00351604168965082, + -0.016310092852390833, + 0.047479476216336004 + ], + [ + -0.003561156478486262, + 0.9999899111269199, + -0.0027378474959008194, + -0.01233750346549152 + ], + [ + 0.016300301915998624, + 0.0027955491789114478, + 0.9998632331785362, + 0.6999216874217832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998341719872557, + 0.0035386939811748413, + -0.01786354308267436, + 0.05075268257168406 + ], + [ + -0.003597200015312142, + 0.9999882679304724, + -0.0032440951687433064, + -0.012612493065328263 + ], + [ + 0.01785185364629691, + 0.0033078159443388454, + 0.9998351712532769, + 0.7210999495327748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998076806409927, + 0.003405105950161208, + -0.019313388743239367, + 0.05363101927315697 + ], + [ + -0.0034838902921662243, + 0.9999857417150599, + -0.004047082284067025, + -0.012192146049934854 + ], + [ + 0.019299332623473234, + 0.0041135896793477065, + 0.9998052881137601, + 0.7401299998162255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9997761353223265, + 0.0032561909001521242, + -0.02090637368782521, + 0.05654730348835904 + ], + [ + -0.0033362045303799138, + 0.9999872394682106, + -0.003793499713899306, + -0.013171017189228746 + ], + [ + 0.020893754552131032, + 0.003862398421919737, + 0.9997742409660022, + 0.7607152447859092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9997434723524564, + 0.0035038180893745617, + -0.022376611616811454, + 0.05873874414269685 + ], + [ + -0.0035817906332271028, + 0.9999876498270666, + -0.0034454272884110225, + -0.01483813942266938 + ], + [ + 0.022364263111329566, + 0.0035246917789464004, + 0.9997436752904969, + 0.7816524978209618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997102297812455, + 0.004039013114939842, + -0.02373063091842944, + 0.060481910515451265 + ], + [ + -0.004152109271387502, + 0.9999802477185469, + -0.0047184914275784275, + -0.013962468146953892 + ], + [ + 0.02371110413556976, + 0.004815656321937553, + 0.999707253647217, + 0.8015717552171716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996689802508575, + 0.004334764829478266, + -0.025360199882567734, + 0.06325381620027434 + ], + [ + -0.004442386220597636, + 0.9999813589313347, + -0.004188913284902436, + -0.015153893431754634 + ], + [ + 0.025341569187359227, + 0.004300186474387608, + 0.999669602052302, + 0.8226680764439471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996158823674911, + 0.004645672377432219, + -0.027322251862246485, + 0.06683824823823403 + ], + [ + -0.004728226379228441, + 0.9999844479268436, + -0.0029576645774868817, + -0.016747604231588196 + ], + [ + 0.027308086603957383, + 0.0030857142783666186, + 0.9996223020588443, + 0.8434255051933013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995827035463044, + 0.0038002177213769276, + -0.028635242557578326, + 0.0700772972572687 + ], + [ + -0.003901487302722346, + 0.9999863287006777, + -0.0034814951625904266, + -0.0161352193092516 + ], + [ + 0.028621620636992386, + 0.0035917623822542847, + 0.9995838644531542, + 0.8627307889525665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995546923172449, + 0.0033274763063156467, + -0.029653751331139303, + 0.07358784501900864 + ], + [ + -0.003409003633355997, + 0.9999905465238096, + -0.0026991771414047704, + -0.017840368878620422 + ], + [ + 0.02964448955212256, + 0.0027990649231170745, + 0.9995565864295781, + 0.8831730094780293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995401147241397, + 0.003246466112238715, + -0.030149950498070826, + 0.076147648583459 + ], + [ + -0.0033341981950834355, + 0.9999903516009189, + -0.0028600397667045705, + -0.01925627868516229 + ], + [ + 0.030140374577133876, + 0.00295925038706001, + 0.9995412951236669, + 0.9032126038401824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999541577901369, + 0.0034175656526819714, + -0.030082458201604576, + 0.07769094784165752 + ], + [ + -0.003526319662258881, + 0.9999874353730619, + -0.0035628872626053735, + -0.018946238530346254 + ], + [ + 0.03006990382560683, + 0.0036673343201946633, + 0.9995410704632917, + 0.9217250364926479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999558873294728, + 0.0038355229441493725, + -0.029450765380864007, + 0.07951804402775142 + ], + [ + -0.003936155220278679, + 0.9999866092817298, + -0.0033597528645894674, + -0.018794090086193458 + ], + [ + 0.029437484604763146, + 0.0034741935717728734, + 0.9995605856971204, + 0.9426373318044633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995845810393721, + 0.004131127526015483, + -0.028523659192100207, + 0.08138253762680132 + ], + [ + -0.004208600678387638, + 0.9999876149988165, + -0.002656601081986226, + -0.020802749075595223 + ], + [ + 0.02851233116869192, + 0.002775542170951915, + 0.9995895874492613, + 0.9609740967428967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996281709808212, + 0.003903571947764722, + -0.026986698715971178, + 0.08382336517754553 + ], + [ + -0.004034702499754534, + 0.9999803099518016, + -0.004806337944540241, + -0.01974943236712603 + ], + [ + 0.026967405460600963, + 0.004913434109385933, + 0.9996242380054499, + 0.9821570054493454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996813797505079, + 0.00340243366449562, + -0.02501124597615552, + 0.08635351812539846 + ], + [ + -0.003511290107657078, + 0.9999845486684712, + -0.004309671228080129, + -0.020314980094342926 + ], + [ + 0.02499619614863266, + 0.004396119820134461, + 0.9996778802737541, + 1.0023603456618193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997465019738242, + 0.0032261954594106582, + -0.022282806240692052, + 0.08784592004989172 + ], + [ + -0.0033055447517031915, + 0.9999883234705866, + -0.0035250952299388885, + -0.022071907344512275 + ], + [ + 0.02227117340862475, + 0.003597858438478156, + 0.9997454927378567, + 1.0205247535682278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9998248396792544, + 0.003284525444940291, + -0.018425576054904007, + 0.08879687267049033 + ], + [ + -0.0033667644037526914, + 0.9999845018774893, + -0.004434061600779897, + -0.02155818680300452 + ], + [ + 0.018410726704916783, + 0.004495319502707987, + 0.9998204024947509, + 1.0423698143037092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999891654465969, + 0.003288063261685255, + -0.01434809984962236, + 0.08936499258538814 + ], + [ + -0.0033501841673368865, + 0.9999851100093171, + -0.004307670565303289, + -0.021831237126626216 + ], + [ + 0.014333722313220063, + 0.004355272625383035, + 0.9998877817060304, + 1.0620851259758446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999951771048298, + 0.0029133137451285186, + -0.009379135375659807, + 0.09071686061871136 + ], + [ + -0.0029478452140661096, + 0.9999889205347802, + -0.003670015841841794, + -0.023349442409062792 + ], + [ + 0.00936833955225874, + 0.0036974870801542285, + 0.9999492801154096, + 1.0834467289409666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999988973748461, + 0.0021584316184353894, + -0.00417055804997574, + 0.09292026543492507 + ], + [ + -0.0021776539758157805, + 0.999987002636368, + -0.00461003053071518, + -0.023797533424336933 + ], + [ + 0.004160553408056768, + 0.004619061731677847, + 0.9999806768453366, + 1.1051300824580184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.999998774263344, + 0.0014091856730671071, + 0.0006823983796890575, + 0.09505237326164992 + ], + [ + -0.001405439964002483, + 0.9999841132494595, + -0.0054587532642588876, + -0.023367072774949815 + ], + [ + -0.000690079935489032, + 0.0054577875033107286, + 0.999984868058138, + 1.1252856570410106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999760229509362, + -2.8305212720436806e-05, + 0.006924790397114414, + 0.09719668605299644 + ], + [ + 5.6705716264105454e-05, + 0.9999915887727601, + -0.004101117919950037, + -0.02581614568804842 + ], + [ + -0.006924616068113678, + 0.0041014122624438995, + 0.9999676135304398, + 1.1465815619727973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9998942874161059, + 0.00041866792575889127, + 0.014534053454071612, + 0.0969984781227511 + ], + [ + -0.0003382772743185761, + 0.9999846344564545, + -0.005533210593929847, + -0.025798119060865307 + ], + [ + -0.014536146708242517, + 0.005527709123953489, + 0.9998790651227365, + 1.1697781131971032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997608698277913, + 0.0007725824302132967, + 0.02185420503168331, + 0.09598314659744786 + ], + [ + -0.000659586761437537, + 0.9999863808496887, + -0.005177167222112813, + -0.025808073111575767 + ], + [ + -0.021857907184414126, + 0.005161514460902795, + 0.9997477635193728, + 1.1900382480478207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995854952525324, + 0.00020666413563586022, + 0.028788799396383128, + 0.09572263051725206 + ], + [ + -7.998820464140207e-05, + 0.999990311195007, + -0.0044012632278243955, + -0.027568816003972003 + ], + [ + -0.02878943005058047, + 0.0043971361189441074, + 0.999575826994288, + 1.2124656991104596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9993944937064376, + -5.4944776735255915e-05, + 0.03479429450821983, + 0.0962289697262256 + ], + [ + 0.00024584901303501526, + 0.9999849413171155, + -0.005482398860709912, + -0.02734965052971759 + ], + [ + -0.03479346932279126, + 0.005487633376660027, + 0.9993794576497995, + 1.235368764103357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992083696551882, + -0.00040026275600759417, + 0.039780319264014145, + 0.09679694588486365 + ], + [ + 0.000643463175589661, + 0.9999811818780735, + -0.006100970813962143, + -0.02701312418621757 + ], + [ + -0.03977712868172364, + 0.006121738270892593, + 0.9991898239846021, + 1.2556084591790029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9989760870404282, + -0.001171375269170505, + 0.04522615837514653, + 0.09710740025066068 + ], + [ + 0.001404738038697772, + 0.9999858626528945, + -0.005128470082722572, + -0.028761523016089283 + ], + [ + -0.04521951163422375, + 0.005186749880755835, + 0.9989636096441337, + 1.2772629076033453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9987216102822707, + -0.000943949038456435, + 0.050539629157733336, + 0.09628504353304024 + ], + [ + 0.001217188885881643, + 0.9999848087307935, + -0.0053759426014970855, + -0.03007450727232018 + ], + [ + -0.050533786780771715, + 0.005430586326659601, + 0.9987075873977049, + 1.297054009719428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9983733521973663, + 0.0005359724732987098, + 0.057011949236115904, + 0.09513071142441064 + ], + [ + -0.00011444553751195063, + 0.9999726377315906, + -0.00739666751613296, + -0.02845989833607532 + ], + [ + -0.057014353670041144, + 0.007378110979996098, + 0.9983460957773884, + 1.3199429043726874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980255105813166, + -0.0007085578551893174, + 0.06280587691186529, + 0.09529298399516582 + ], + [ + 0.001054445976455762, + 0.9999844600643062, + -0.005474282928480381, + -0.031038397589668094 + ], + [ + -0.06280102206640636, + 0.005529699418970709, + 0.9980107484650407, + 1.3414281308326887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9976685936023307, + -0.0006154600195653414, + 0.0682422050384639, + 0.09590134136786088 + ], + [ + 0.00104316833169897, + 0.9999800365030129, + -0.006232045833011951, + -0.03141889220073015 + ], + [ + -0.0682370071103589, + 0.006288704508667732, + 0.9976493186767701, + 1.3614895838666088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9972365559088296, + -0.0010411342966078342, + 0.07428436981271817, + 0.09758635420920063 + ], + [ + 0.001539815576860005, + 0.9999766618233855, + -0.006656183331937539, + -0.031155172111645184 + ], + [ + -0.07427570617022437, + 0.006752173571193999, + 0.9972148853807686, + 1.3841844823284608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.996777192087721, + -0.0020850154107346693, + 0.08019278050083926, + 0.09914862345936146 + ], + [ + 0.002586652142814322, + 0.9999777307467123, + -0.006152011162882731, + -0.03245308610154767 + ], + [ + -0.0801781676294168, + 0.006339615240151297, + 0.9967603878135388, + 1.4041650165864255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9961332519464249, + -0.0026799660231044205, + 0.08781436185929681, + 0.10077732990215996 + ], + [ + 0.0032417650918616513, + 0.9999751789786736, + -0.00625558835435281, + -0.033904261358098 + ], + [ + -0.08779541745290412, + 0.006516073103099224, + 0.9961172147220354, + 1.426362373569845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9953331662043559, + -0.002141984388487127, + 0.0964743497334492, + 0.10230782150477023 + ], + [ + 0.002874427408274797, + 0.9999680890361118, + -0.00745376257615505, + -0.03374227309576133 + ], + [ + -0.09645530530088509, + 0.007696285620129256, + 0.9953075611422666, + 1.449081091242201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9945211788106633, + -0.0023516307796712724, + 0.1045088260852888, + 0.10388565839682094 + ], + [ + 0.003096605359749009, + 0.9999709379383472, + -0.0069666573009082985, + -0.035073269019687915 + ], + [ + -0.1044894058376016, + 0.007252110822266016, + 0.994499558047326, + 1.468974539378471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9934951984564762, + -0.004090525596639727, + 0.11380051952548555, + 0.1069466109866865 + ], + [ + 0.004749376076710769, + 0.9999734916768936, + -0.005519000851925061, + -0.0378220358341125 + ], + [ + -0.1137749272502916, + 0.006023582311616347, + 0.9934882900091606, + 1.4908073991386166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9923368524020062, + -0.003667375914167917, + 0.12350757757637164, + 0.11092131699861543 + ], + [ + 0.004574391038396753, + 0.9999646077760151, + -0.007061029810751413, + -0.03653851069823324 + ], + [ + -0.12347731091786503, + 0.007571892053157235, + 0.9923185074053736, + 1.5134527543023346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.991202903335301, + -0.005576922346406948, + 0.13223351449920762, + 0.11449110442494831 + ], + [ + 0.006487897798914783, + 0.999958091504588, + -0.0064592891755121526, + -0.03828636619620709 + ], + [ + -0.1321919498374271, + 0.0072603837119121035, + 0.9911975460151903, + 1.5320770087685764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9898074268959061, + -0.006808969664537861, + 0.14224941333381041, + 0.11842513949830252 + ], + [ + 0.007762449572155202, + 0.9999509657644802, + -0.006149019704256201, + -0.03987688571199085 + ], + [ + -0.14220056975394152, + 0.00719054926907442, + 0.9898117467290756, + 1.5531555376866943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9881758530360603, + -0.006630713049916075, + 0.15318132105744686, + 0.12170712050060878 + ], + [ + 0.007781553027998453, + 0.9999458163355817, + -0.006914609565256085, + -0.04010099098998271 + ], + [ + -0.15312717234027207, + 0.008024838778265611, + 0.9881739072924642, + 1.5748303272602826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9865931515105795, + -0.007052309698335516, + 0.1630466752814713, + 0.124670438985398 + ], + [ + 0.008296399651563013, + 0.999941427645838, + -0.006950613672534098, + -0.04122992380058309 + ], + [ + -0.16298810737364958, + 0.008210128228111645, + 0.9865938732068195, + 1.5942925606699803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9848235916986053, + -0.008515789107005886, + 0.1733492848838552, + 0.12894230622421182 + ], + [ + 0.009739308273017045, + 0.999933296527831, + -0.006208733312684313, + -0.04350611137739749 + ], + [ + -0.173284849621143, + 0.0078028091652874625, + 0.9848408384408661, + 1.6159151747610951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9831788881811493, + -0.008679277951602647, + 0.18243887735106878, + 0.13306098445616932 + ], + [ + 0.010153347088339638, + 0.9999229097632262, + -0.007147312330318407, + -0.04323561399081795 + ], + [ + -0.18236277958449526, + 0.008879451834558294, + 0.983191218409387, + 1.6361148964645325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813793056671936, + -0.009337977255549704, + 0.1918527054512192, + 0.1378824556349742 + ], + [ + 0.010957976825541928, + 0.9999126908539939, + -0.007384674198392623, + -0.04347804368148271 + ], + [ + -0.19176699703564307, + 0.009349483937648971, + 0.9813959476164713, + 1.6578412021971844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_199/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_199/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7430707a54c7b5cc43dc8975cbc65ec3d92069ee --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_199/move_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999995215758, + 1.6856370052417727e-05, + 2.593667788018041e-05, + -0.00010134775118467604 + ], + [ + -1.6856495782291647e-05, + 0.9999999998461808, + 4.8473595105874235e-06, + -8.68453831984716e-05 + ], + [ + -2.5936596167305162e-05, + -4.847796709769624e-06, + 0.999999999651896, + -5.909470106208388e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999145661183, + 0.0001934888342663154, + 0.0003652804773259352, + 0.00493187879731886 + ], + [ + -0.00019336795781233217, + 0.9999999265502575, + -0.0003309204021476594, + -0.000559625066095162 + ], + [ + -0.00036534447989902463, + 0.00033084974033591565, + 0.9999998785309228, + 0.020939072039688193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999996253554834, + 0.0003530145382227558, + 0.0007903604424884228, + 0.008248983772448166 + ], + [ + -0.0003522029990298279, + 0.9999994109197448, + -0.0010267001564515739, + 0.0002356827937902209 + ], + [ + -0.0007907224169843145, + 0.001026421404485831, + 0.9999991606082277, + 0.04058523373846066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999987260480955, + 0.0008898657563909167, + 0.0013251570178189087, + 0.011569913193163367 + ], + [ + -0.0008889313436745899, + 0.999999355995899, + -0.000705555705728644, + -0.0011925893658904 + ], + [ + -0.0013257840142741088, + 0.0007043768332761792, + 0.9999988730743773, + 0.06169470050924715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999983650406569, + 0.0009673691827859774, + 0.0015277803760932376, + 0.014999413966798915 + ], + [ + -0.000965526011852947, + 0.9999988057994499, + -0.0012067142141913199, + -0.0019836616661606326 + ], + [ + -0.0015289458897603104, + 0.0012052371295691242, + 0.9999981048621681, + 0.08082224176771297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999987859689907, + 0.000666637380543136, + 0.0014084229292826583, + 0.01890346846698772 + ], + [ + -0.0006637051425239939, + 0.9999976136888276, + -0.0020813726563157406, + -0.0017507400622383893 + ], + [ + -0.001409807089162827, + 0.00208043535192378, + 0.9999968421113729, + 0.10228448026645334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999992620581808, + 0.000769264267471251, + 0.0009402742051244019, + 0.022430295762094037 + ], + [ + -0.0007678269453630836, + 0.9999985377873474, + -0.0015280264884487465, + -0.002537215532910854 + ], + [ + -0.0009414482864208754, + 0.0015273033929833755, + 0.9999983905084397, + 0.12329844615974306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999990697227856, + 0.001361839622767875, + 7.711293934064982e-05, + 0.025050394113787587 + ], + [ + -0.0013617808771747726, + 0.9999987863964708, + -0.000756808052576101, + -0.004397670037919943 + ], + [ + -7.81434969489424e-05, + 0.0007567023376086371, + 0.9999997106475413, + 0.14205128813519255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999984871738924, + 0.0016418317147160444, + -0.0005744898147552843, + 0.02709413929754164 + ], + [ + -0.0016431703657456146, + 0.9999959180457615, + -0.002337495019020251, + -0.00270570686826317 + ], + [ + 0.0005706496962589316, + 0.002338435467435788, + 0.9999971030350483, + 0.1645550895695523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967536103008, + 0.0021378437568503952, + -0.0013865038516863279, + 0.029659626333091917 + ], + [ + -0.0021392381341245508, + 0.9999972068372968, + -0.0010049765222542495, + -0.0035731124810007286 + ], + [ + 0.001384351496171599, + 0.0010079393216214578, + 0.9999985338135546, + 0.18571647448595952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999939897310455, + 0.002293252473490555, + -0.002600287460824972, + 0.03266045629304207 + ], + [ + -0.0022955368384731285, + 0.9999969816846551, + -0.0008758608354735807, + -0.004115960396733437 + ], + [ + 0.002598271042310044, + 0.0008818246269713362, + 0.9999962356793741, + 0.20456824681851046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999890758249086, + 0.0022661694978603625, + -0.004088117739532896, + 0.03572778846679549 + ], + [ + -0.0022741291293530367, + 0.9999955257185443, + -0.001943419562312369, + -0.0034311859547603196 + ], + [ + 0.0040836953300098485, + 0.0019526952396924906, + 0.9999897551543978, + 0.22660858703237907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999838570946844, + 0.0023926246072426337, + -0.00515372656694806, + 0.038631749672393766 + ], + [ + -0.002401128654289877, + 0.9999957650547573, + -0.0016445223429740019, + -0.004142855256824579 + ], + [ + 0.005149770016573292, + 0.0016568705561418036, + 0.9999853672173092, + 0.24800435020766604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999807768075124, + 0.0027064204932515375, + -0.005578647108177129, + 0.04099072452642548 + ], + [ + -0.002713217094223856, + 0.9999955858153085, + -0.0012111163848063096, + -0.005045089841568888 + ], + [ + 0.005575344692794912, + 0.0012262291839794685, + 0.9999837058140222, + 0.2673131008710373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999792718060511, + 0.003153057619438114, + -0.005613749717303639, + 0.042939933243631274 + ], + [ + -0.0031634854718491736, + 0.9999932855620081, + -0.0018496460660705647, + -0.004670173122733234 + ], + [ + 0.0056078799835073715, + 0.0018673667419214575, + 0.9999825321592082, + 0.2896110317931614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999785855544328, + 0.0035527368636810394, + -0.005496043425363709, + 0.0447715317828469 + ], + [ + -0.003563593335713599, + 0.9999917162260312, + -0.0019667948175796915, + -0.004367521047369544 + ], + [ + 0.005489010392930538, + 0.001986338363482547, + 0.9999829624672674, + 0.3092224163751828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999780016728858, + 0.00384656955313367, + -0.005403709186745049, + 0.04751461964415307 + ], + [ + -0.0038531159637087264, + 0.9999918548203584, + -0.0012015782576935597, + -0.0067280511940461425 + ], + [ + 0.00539904321822124, + 0.0012223729431126806, + 0.9999846779509752, + 0.33002619996585153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999803238492876, + 0.00316682185408325, + -0.005415085744352765, + 0.05119959712799593 + ], + [ + -0.0031837984227555574, + 0.9999900353747744, + -0.0031293096301028196, + -0.005364906921080615 + ], + [ + 0.005405121818927954, + 0.003146488598786868, + 0.9999804419425514, + 0.35194296459472624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999787472161429, + 0.0029484977232020026, + -0.005814763727793374, + 0.055123562154419214 + ], + [ + -0.0029630414220727275, + 0.9999924997950995, + -0.0024941409501428174, + -0.006066668945916288 + ], + [ + 0.005807366146961126, + 0.002511317328489312, + 0.9999799836915292, + 0.370858876527175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999771919389182, + 0.003037721267806425, + -0.006032234366760789, + 0.0590685888759025 + ], + [ + -0.003049097259566711, + 0.9999935888538362, + -0.0018775668102696361, + -0.007612872790863869 + ], + [ + 0.006026492168593285, + 0.0018959168558878965, + 0.999980043246573, + 0.39209016894662213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999773405125035, + 0.0031179555553576235, + -0.005966306620989022, + 0.06246979934465188 + ], + [ + -0.0031336371034640484, + 0.9999916558009087, + -0.002620810382517767, + -0.0071797965062779905 + ], + [ + 0.005958085266647026, + 0.0026394472360958474, + 0.9999787670437026, + 0.41204846309395127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999755459898036, + 0.003385132932605306, + -0.006119501403104656, + 0.06629535482345666 + ], + [ + -0.0034041296076789004, + 0.9999894116184797, + -0.003096538800176273, + -0.006857232767644866 + ], + [ + 0.006108954412019518, + 0.0031172946532954213, + 0.9999764812984535, + 0.4338849460137274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999691162944871, + 0.003819756572394349, + -0.006868472679585244, + 0.07095606628830713 + ], + [ + -0.0038348767200996575, + 0.9999902497188564, + -0.002189563372245355, + -0.008778676076384363 + ], + [ + 0.006860042110963781, + 0.002215835496396547, + 0.9999740146100242, + 0.4546725817688885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999636854616797, + 0.0036434963380676142, + -0.007704069854905384, + 0.07607086731613241 + ], + [ + -0.003664812394614827, + 0.9999894907414753, + -0.002754551999357937, + -0.008928477606563368 + ], + [ + 0.007693952690720909, + 0.002782685939767037, + 0.9999665293153334, + 0.4742851489581812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999543778146956, + 0.0029303843962158833, + -0.009091487035436847, + 0.08181613152487412 + ], + [ + -0.002961119062413059, + 0.9999899408185106, + -0.003368981402458297, + -0.007855847898488057 + ], + [ + 0.009081523171985843, + 0.0033957486777307804, + 0.9999529963092239, + 0.4962122846201974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999492790230674, + 0.0029861501972426293, + -0.009618850671867376, + 0.0873201302811479 + ], + [ + -0.0030026702467596525, + 0.9999940410413244, + -0.0017034826772234705, + -0.009999331419222933 + ], + [ + 0.009613706498401122, + 0.001732278511638334, + 0.9999522867909855, + 0.516960138898734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999456561519281, + 0.003384972700980726, + -0.009860360171090349, + 0.09132856865971485 + ], + [ + -0.0034134179721112116, + 0.9999900574790965, + -0.0028694112115289164, + -0.00923940618024981 + ], + [ + 0.00985054925563432, + 0.002902912807301471, + 0.9999472684979921, + 0.5375345855571844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999451682261901, + 0.003921654958964931, + -0.009709848787680626, + 0.09536165487181164 + ], + [ + -0.003955507742528127, + 0.9999861575032648, + -0.0034696916800666514, + -0.009087880780171375 + ], + [ + 0.009696107445547268, + 0.003507908812775707, + 0.9999468386250171, + 0.5593215798824779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999422479498654, + 0.004121740665226972, + -0.009925322103525099, + 0.10023782302534587 + ], + [ + -0.00414853696490253, + 0.9999878016210613, + -0.0026807182112354925, + -0.010245398321755129 + ], + [ + 0.009914151805421725, + 0.002721738959897998, + 0.9999471494689174, + 0.5800994108559006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999347241938108, + 0.0038837916853277036, + -0.01074539499472139, + 0.10562416689270093 + ], + [ + -0.003910978962295307, + 0.999989201316625, + -0.0025102776131361443, + -0.01024388765095203 + ], + [ + 0.010735529563281339, + 0.0025521387665070963, + 0.9999391156429038, + 0.5990549502361088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999229778667932, + 0.0033488602832924485, + -0.011950877323763372, + 0.11187594874683035 + ], + [ + -0.003388417789799931, + 0.9999888429321969, + -0.0032912970099816495, + -0.00933082229282248 + ], + [ + 0.011939721893177518, + 0.00333153807259248, + 0.9999231689960907, + 0.6206249516418006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999914007027228, + 0.002996618445015381, + -0.01276709946102501, + 0.11740337573250553 + ], + [ + -0.003034591574631911, + 0.9999910267299726, + -0.002955962366202586, + -0.011039815433189791 + ], + [ + 0.012758127007044744, + 0.0029944511066682285, + 0.9999141280419245, + 0.6396358687077589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998995088494029, + 0.003473943892664676, + -0.013744232119457933, + 0.12246273088784086 + ], + [ + -0.003525739231322199, + 0.9999867679341757, + -0.003746080542893996, + -0.012122656954812273 + ], + [ + 0.013731036581250406, + 0.003794162673337983, + 0.9998985263335539, + 0.6610356663418244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999882769705124, + 0.0035346857804858466, + -0.014898081864573655, + 0.1273462557357205 + ], + [ + -0.003597596925586737, + 0.999984716570902, + -0.004198085393844636, + -0.010802736496839008 + ], + [ + 0.014883015258048892, + 0.0042511905445691296, + 0.9998802044424036, + 0.6829443335621789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998607994725983, + 0.00351604168965082, + -0.016310092852390833, + 0.1324676441715069 + ], + [ + -0.003561156478486262, + 0.9999899111269199, + -0.0027378474959008194, + -0.012640201766162852 + ], + [ + 0.016300301915998624, + 0.0027955491789114478, + 0.9998632331785362, + 0.701307213084643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998341719872557, + 0.0035386939811748413, + -0.01786354308267436, + 0.13823817262056895 + ], + [ + -0.003597200015312142, + 0.9999882679304724, + -0.0032440951687433064, + -0.012927248066668076 + ], + [ + 0.01785185364629691, + 0.0033078159443388454, + 0.9998351712532769, + 0.7226619867268258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998076806409927, + 0.003405105950161208, + -0.019313388743239367, + 0.14361371053084632 + ], + [ + -0.0034838902921662243, + 0.9999857417150599, + -0.004047082284067025, + -0.012505696176229814 + ], + [ + 0.019299332623473234, + 0.0041135896793477065, + 0.9998052881137601, + 0.7418669397523382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9997761353223265, + 0.0032561909001521242, + -0.02090637368782521, + 0.14902659600567425 + ], + [ + -0.0033362045303799138, + 0.9999872394682106, + -0.003793499713899306, + -0.013479616108288886 + ], + [ + 0.020893754552131032, + 0.003862398421919737, + 0.9997742409660022, + 0.7626479170819814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9997434723524564, + 0.0035038180893745617, + -0.022376611616811454, + 0.1537143740161802 + ], + [ + -0.0035817906332271028, + 0.9999876498270666, + -0.0034454272884110225, + -0.015178409532825956 + ], + [ + 0.022364263111329566, + 0.0035246917789464004, + 0.9997436752904969, + 0.7837771028165381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997102297812455, + 0.004039013114939842, + -0.02373063091842944, + 0.15795365791912272 + ], + [ + -0.004152109271387502, + 0.9999802477185469, + -0.0047184914275784275, + -0.014367298800914172 + ], + [ + 0.02371110413556976, + 0.004815656321937553, + 0.999707253647217, + 0.8038835878703897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996689802508575, + 0.004334764829478266, + -0.025360199882567734, + 0.16322071422536008 + ], + [ + -0.004442386220597636, + 0.9999813589313347, + -0.004188913284902436, + -0.015598132053814398 + ], + [ + 0.025341569187359227, + 0.004300186474387608, + 0.999669602052302, + 0.825202233362683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996158823674911, + 0.004645672377432219, + -0.027322251862246485, + 0.1692988761809019 + ], + [ + -0.004728226379228441, + 0.9999844479268436, + -0.0029576645774868817, + -0.01723224743545911 + ], + [ + 0.027308086603957383, + 0.0030857142783666186, + 0.9996223020588443, + 0.846224584070207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995827035463044, + 0.0038002177213769276, + -0.028635242557578326, + 0.17503348112963069 + ], + [ + -0.003901487302722346, + 0.9999863287006777, + -0.0034814951625904266, + -0.016544875476037443 + ], + [ + 0.028621620636992386, + 0.0035917623822542847, + 0.9995838644531542, + 0.8657360591194506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995546923172449, + 0.0033274763063156467, + -0.029653751331139303, + 0.18103997444311246 + ], + [ + -0.003409003633355997, + 0.9999905465238096, + -0.0026991771414047704, + -0.01820683676920619 + ], + [ + 0.02964448955212256, + 0.0027990649231170745, + 0.9995565864295781, + 0.8863597921048826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995401147241397, + 0.003246466112238715, + -0.030149950498070826, + 0.18609706120311437 + ], + [ + -0.0033341981950834355, + 0.9999903516009189, + -0.0028600397667045705, + -0.019623040486621467 + ], + [ + 0.030140374577133876, + 0.00295925038706001, + 0.9995412951236669, + 0.9065280450436672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999541577901369, + 0.0034175656526819714, + -0.030082458201604576, + 0.19013937535556152 + ], + [ + -0.003526319662258881, + 0.9999874353730619, + -0.0035628872626053735, + -0.019342949492350377 + ], + [ + 0.03006990382560683, + 0.0036673343201946633, + 0.9995410704632917, + 0.9251079006730287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999558873294728, + 0.0038355229441493725, + -0.029450765380864007, + 0.19446731445664517 + ], + [ + -0.003936155220278679, + 0.9999866092817298, + -0.0033597528645894674, + -0.019246747936525508 + ], + [ + 0.029437484604763146, + 0.0034741935717728734, + 0.9995605856971204, + 0.9460226425340111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995845810393721, + 0.004131127526015483, + -0.028523659192100207, + 0.19883372589892756 + ], + [ + -0.004208600678387638, + 0.9999876149988165, + -0.002656601081986226, + -0.02129725965530577 + ], + [ + 0.02851233116869192, + 0.002775542170951915, + 0.9995895874492613, + 0.9643242956552179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996281709808212, + 0.003903571947764722, + -0.026986698715971178, + 0.20377874569524412 + ], + [ + -0.004034702499754534, + 0.9999803099518016, + -0.004806337944540241, + -0.020233596667096572 + ], + [ + 0.026967405460600963, + 0.004913434109385933, + 0.9996242380054499, + 0.9853930941046174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996813797505079, + 0.00340243366449562, + -0.02501124597615552, + 0.20881448714483566 + ], + [ + -0.003511290107657078, + 0.9999845486684712, + -0.004309671228080129, + -0.02074511313253092 + ], + [ + 0.02499619614863266, + 0.004396119820134461, + 0.9996778802737541, + 1.005422379690027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997465019738242, + 0.0032261954594106582, + -0.022282806240692052, + 0.21281423279661976 + ], + [ + -0.0033055447517031915, + 0.9999883234705866, + -0.0035250952299388885, + -0.022485100438475174 + ], + [ + 0.02227117340862475, + 0.003597858438478156, + 0.9997454927378567, + 1.023308650244306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9998248396792544, + 0.003284525444940291, + -0.018425576054904007, + 0.2162745397295953 + ], + [ + -0.0033667644037526914, + 0.9999845018774893, + -0.004434061600779897, + -0.021987449264482987 + ], + [ + 0.018410726704916783, + 0.004495319502707987, + 0.9998204024947509, + 1.0447171819585863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999891654465969, + 0.003288063261685255, + -0.01434809984962236, + 0.2193509076659641 + ], + [ + -0.0033501841673368865, + 0.9999851100093171, + -0.004307670565303289, + -0.02226676106838001 + ], + [ + 0.014333722313220063, + 0.004355272625383035, + 0.9998877817060304, + 1.063948509876563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999951771048298, + 0.0029133137451285186, + -0.009379135375659807, + 0.22321047028261087 + ], + [ + -0.0029478452140661096, + 0.9999889205347802, + -0.003670015841841794, + -0.023740031899926555 + ], + [ + 0.00936833955225874, + 0.0036974870801542285, + 0.9999492801154096, + 1.084688033931641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999988973748461, + 0.0021584316184353894, + -0.00417055804997574, + 0.22791877689096732 + ], + [ + -0.0021776539758157805, + 0.999987002636368, + -0.00461003053071518, + -0.024091516711072066 + ], + [ + 0.004160553408056768, + 0.004619061731677847, + 0.9999806768453366, + 1.105691757168106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.999998774263344, + 0.0014091856730671071, + 0.0006823983796890575, + 0.23255220472285973 + ], + [ + -0.001405439964002483, + 0.9999841132494595, + -0.0054587532642588876, + -0.023560320770000157 + ], + [ + -0.000690079935489032, + 0.0054577875033107286, + 0.999984868058138, + 1.125190771049881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999760229509362, + -2.8305212720436806e-05, + 0.006924790397114414, + 0.23719332926612754 + ], + [ + 5.6705716264105454e-05, + 0.9999915887727601, + -0.004101117919950037, + -0.025808206887771443 + ], + [ + -0.006924616068113678, + 0.0041014122624438995, + 0.9999676135304398, + 1.1456121157232613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9998942874161059, + 0.00041866792575889127, + 0.014534053454071612, + 0.2394834140795462 + ], + [ + -0.0003382772743185761, + 0.9999846344564545, + -0.005533210593929847, + -0.025846323572455705 + ], + [ + -0.014536146708242517, + 0.005527709123953489, + 0.9998790651227365, + 1.1677067122911788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997608698277913, + 0.0007725824302132967, + 0.02185420503168331, + 0.24094847272247763 + ], + [ + -0.000659586761437537, + 0.9999863808496887, + -0.005177167222112813, + -0.02590371319198421 + ], + [ + -0.021857907184414126, + 0.005161514460902795, + 0.9997477635193728, + 1.1868688515060806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995854952525324, + 0.00020666413563586022, + 0.028788799396383128, + 0.24316149106700063 + ], + [ + -7.998820464140207e-05, + 0.999990311195007, + -0.0044012632278243955, + -0.027580614264156606 + ], + [ + -0.02878943005058047, + 0.0043971361189441074, + 0.999575826994288, + 1.2082192581779991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9993944937064376, + -5.4944776735255915e-05, + 0.03479429450821983, + 0.24613814378219126 + ], + [ + 0.00024584901303501526, + 0.9999849413171155, + -0.005482398860709912, + -0.027312773177762335 + ], + [ + -0.03479346932279126, + 0.005487633376660027, + 0.9993794576497995, + 1.2301497437049382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992083696551882, + -0.00040026275600759417, + 0.039780319264014145, + 0.24917622225727987 + ], + [ + 0.000643463175589661, + 0.9999811818780735, + -0.006100970813962143, + -0.026914996051940143 + ], + [ + -0.03977712868172364, + 0.006121738270892593, + 0.9991898239846021, + 1.24954244705504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9989760870404282, + -0.001171375269170505, + 0.04522615837514653, + 0.2519486937419271 + ], + [ + 0.001404738038697772, + 0.9999858626528945, + -0.005128470082722572, + -0.028543788620091128 + ], + [ + -0.04521951163422375, + 0.005186749880755835, + 0.9989636096441337, + 1.2702538833000405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9987216102822707, + -0.000943949038456435, + 0.050539629157733336, + 0.2535836971524979 + ], + [ + 0.001217188885881643, + 0.9999848087307935, + -0.0053759426014970855, + -0.029882800022793823 + ], + [ + -0.050533786780771715, + 0.005430586326659601, + 0.9987075873977049, + 1.2890949383014565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9983733521973663, + 0.0005359724732987098, + 0.057011949236115904, + 0.2548704477759893 + ], + [ + -0.00011444553751195063, + 0.9999726377315906, + -0.00739666751613296, + -0.02847820962207723 + ], + [ + -0.057014353670041144, + 0.007378110979996098, + 0.9983460957773884, + 1.310820607785481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980255105813166, + -0.0007085578551893174, + 0.06280587691186529, + 0.2574721294646298 + ], + [ + 0.001054445976455762, + 0.9999844600643062, + -0.005474282928480381, + -0.030867050118494034 + ], + [ + -0.06280102206640636, + 0.005529699418970709, + 0.9980107484650407, + 1.3312229647468978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9976685936023307, + -0.0006154600195653414, + 0.0682422050384639, + 0.2605166593122455 + ], + [ + 0.00104316833169897, + 0.9999800365030129, + -0.006232045833011951, + -0.03124676942599982 + ], + [ + -0.0682370071103589, + 0.006288704508667732, + 0.9976493186767701, + 1.3502304776933995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9972365559088296, + -0.0010411342966078342, + 0.07428436981271817, + 0.2646234773239296 + ], + [ + 0.001539815576860005, + 0.9999766618233855, + -0.006656183331937539, + -0.030897253002521132 + ], + [ + -0.07427570617022437, + 0.006752173571193999, + 0.9972148853807686, + 1.3717433015449483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.996777192087721, + -0.0020850154107346693, + 0.08019278050083926, + 0.2686007461142741 + ], + [ + 0.002586652142814322, + 0.9999777307467123, + -0.006152011162882731, + -0.03201335523726923 + ], + [ + -0.0801781676294168, + 0.006339615240151297, + 0.9967603878135388, + 1.3905347280894245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9961332519464249, + -0.0026799660231044205, + 0.08781436185929681, + 0.2726103158629183 + ], + [ + 0.0032417650918616513, + 0.9999751789786736, + -0.00625558835435281, + -0.033345056879751866 + ], + [ + -0.08779541745290412, + 0.006516073103099224, + 0.9961172147220354, + 1.411217664059219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9953331662043559, + -0.002141984388487127, + 0.0964743497334492, + 0.2764911255905325 + ], + [ + 0.002874427408274797, + 0.9999680890361118, + -0.00745376257615505, + -0.03323924829931324 + ], + [ + -0.09645530530088509, + 0.007696285620129256, + 0.9953075611422666, + 1.4322014128145462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9945211788106633, + -0.0023516307796712724, + 0.1045088260852888, + 0.28041316763571367 + ], + [ + 0.003096605359749009, + 0.9999709379383472, + -0.0069666573009082985, + -0.03452362156833246 + ], + [ + -0.1044894058376016, + 0.007252110822266016, + 0.994499558047326, + 1.4504276698422967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9934951984564762, + -0.004090525596639727, + 0.11380051952548555, + 0.2857757467088522 + ], + [ + 0.004749376076710769, + 0.9999734916768936, + -0.005519000851925061, + -0.03696714814030456 + ], + [ + -0.1137749272502916, + 0.006023582311616347, + 0.9934882900091606, + 1.470327912233564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9923368524020062, + -0.003667375914167917, + 0.12350757757637164, + 0.2920227925619816 + ], + [ + 0.004574391038396753, + 0.9999646077760151, + -0.007061029810751413, + -0.03570368433372583 + ], + [ + -0.12347731091786503, + 0.007571892053157235, + 0.9923185074053736, + 1.4909181450598241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.991202903335301, + -0.005576922346406948, + 0.13223351449920762, + 0.29786364154197903 + ], + [ + 0.006487897798914783, + 0.999958091504588, + -0.0064592891755121526, + -0.03708610510340785 + ], + [ + -0.1321919498374271, + 0.0072603837119121035, + 0.9911975460151903, + 1.5076214980486526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9898074268959061, + -0.006808969664537861, + 0.14224941333381041, + 0.3040140320412849 + ], + [ + 0.007762449572155202, + 0.9999509657644802, + -0.006149019704256201, + -0.03842142641721175 + ], + [ + -0.14220056975394152, + 0.00719054926907442, + 0.9898117467290756, + 1.5264929308578303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9881758530360603, + -0.006630713049916075, + 0.15318132105744686, + 0.30946053257746026 + ], + [ + 0.007781553027998453, + 0.9999458163355817, + -0.006914609565256085, + -0.038622495914663005 + ], + [ + -0.15312717234027207, + 0.008024838778265611, + 0.9881739072924642, + 1.545736164515631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9865931515105795, + -0.007052309698335516, + 0.1630466752814713, + 0.31458962065118456 + ], + [ + 0.008296399651563013, + 0.999941427645838, + -0.006950613672534098, + -0.03963286686765721 + ], + [ + -0.16298810737364958, + 0.008210128228111645, + 0.9865938732068195, + 1.5629173500005529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9848235916986053, + -0.008515789107005886, + 0.1733492848838552, + 0.3209829066054399 + ], + [ + 0.009739308273017045, + 0.999933296527831, + -0.006208733312684313, + -0.04160694626415916 + ], + [ + -0.173284849621143, + 0.0078028091652874625, + 0.9848408384408661, + 1.5821246290849724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9831788881811493, + -0.008679277951602647, + 0.18243887735106878, + 0.3272388148719463 + ], + [ + 0.010153347088339638, + 0.9999229097632262, + -0.007147312330318407, + -0.041230327940870865 + ], + [ + -0.18236277958449526, + 0.008879451834558294, + 0.983191218409387, + 1.6000982474965948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813793056671936, + -0.009337977255549704, + 0.1918527054512192, + 0.33415831676841296 + ], + [ + 0.010957976825541928, + 0.9999126908539939, + -0.007384674198392623, + -0.04128644831637433 + ], + [ + -0.19176699703564307, + 0.009349483937648971, + 0.9813959476164713, + 1.6194878027900559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_199/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_199/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..50a94a4e47e1a88898d0b58188be148cbc1fc39f --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_199/orbit_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999995215758, + 1.6856370052417727e-05, + 2.593667788018041e-05, + -0.00010134775118467604 + ], + [ + -1.6856495782291647e-05, + 0.9999999998461808, + 4.8473595105874235e-06, + -8.68453831984716e-05 + ], + [ + -2.5936596167305162e-05, + -4.847796709769624e-06, + 0.999999999651896, + -5.909470106208388e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999933645928388, + 0.0001934888342663154, + 0.003637764748341111, + 0.0004467966996091195 + ], + [ + -0.0001922839898538307, + 0.9999999265502575, + -0.0003315514242345709, + -0.0005588987127613074 + ], + [ + -0.0036378286326468013, + 0.00033084974033591565, + 0.9999933283483888, + 0.021366637816305496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999730341675689, + 0.0003530145382227558, + 0.007335279029609744, + -0.0007208157223998705 + ], + [ + -0.000345475766592654, + 0.9999994109197448, + -0.0010289833130233499, + 0.00023796762339807476 + ], + [ + -0.007335637954610785, + 0.001026421404485831, + 0.9999725670611668, + 0.04144418052275951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999375255792008, + 0.0008898657563909167, + 0.011142399987480116, + -0.0018840905951077163 + ], + [ + -0.0008819618394747662, + 0.999999355995899, + -0.0007142486271345878, + -0.0011815297058321772 + ], + [ + -0.011143028397123665, + 0.0007043768332761792, + 0.9999376664429728, + 0.06299031995421789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.99989269472749, + 0.0009673691827859774, + 0.014617223657829895, + -0.002938906062903252 + ], + [ + -0.0009496478918631952, + 0.9999988057994499, + -0.0012192491770658782, + -0.0019683950995685873 + ], + [ + -0.014618385666013391, + 0.0012052371295691242, + 0.9998924193151888, + 0.08255337796970563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998418798030797, + 0.000666637380543136, + 0.017769946157682345, + -0.00351969519785743 + ], + [ + -0.000629561436748835, + 0.9999976136888276, + -0.002091953404842082, + -0.001740288250237039 + ], + [ + -0.017771298327399314, + 0.00208043535192378, + 0.9998399135584182, + 0.10444572600032824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997880416279189, + 0.000769264267471251, + 0.020573770930427462, + -0.004478709831531508 + ], + [ + -0.0007376781372653413, + 0.9999985377873474, + -0.0015428072249076834, + -0.00252045718106059 + ], + [ + -0.020574927673669013, + 0.0015273033929833755, + 0.9997871471946262, + 0.12587934079304183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997349395830781, + 0.001361839622767875, + 0.022982514432960836, + -0.006346013213606665 + ], + [ + -0.001344088571055124, + 0.9999987863964708, + -0.0007878016876358659, + -0.004357171073737919 + ], + [ + -0.022983559400853316, + 0.0007567023376086371, + 0.9997355567342996, + 0.14503523091750622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996708510580419, + 0.0016418317147160449, + 0.02560261575525837, + -0.008789668456202816 + ], + [ + -0.0015814188060175652, + 0.9999959180457617, + -0.002379707203582626, + -0.0026547116072380634 + ], + [ + -0.025606418325311048, + 0.0023384354674357882, + 0.9996693668709242, + 0.16794202107156683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996038935258872, + 0.0021378437568503952, + 0.02806217511096294, + -0.010712700140438819 + ], + [ + -0.0021087156419961504, + 0.9999972068372968, + -0.001067537327673229, + -0.0034906099715076174 + ], + [ + -0.028064378956753216, + 0.0010079393216214578, + 0.9996056095741439, + 0.18949393109382298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995436594461755, + 0.002293252473490555, + 0.030119990936935032, + -0.01220273010073196 + ], + [ + -0.0022656504160851357, + 0.9999969816846551, + -0.0009504997485517478, + -0.00401673063396793 + ], + [ + -0.030122079761203617, + 0.0008818246269713362, + 0.999545838216631, + 0.20871096385732266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994883757838361, + 0.0022661694978603625, + 0.03190377953779611, + -0.013628444906691864 + ], + [ + -0.0022027128900284527, + 0.9999955257185443, + -0.002024005636418264, + -0.0033280911460650308 + ], + [ + -0.031908223531143705, + 0.0019526952396924906, + 0.999488895512295, + 0.23109225811540746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994152401364935, + 0.002392624607242634, + 0.034109428761040395, + -0.015216579581848903 + ], + [ + -0.002334713826919227, + 0.9999957650547575, + -0.0017375223444274887, + -0.004022025014187391 + ], + [ + -0.034113441548194234, + 0.001656870556141804, + 0.9994165937614298, + 0.25283822614033225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993132602113337, + 0.0027064204932515375, + 0.03695515192647085, + -0.017347138700982 + ], + [ + -0.0026592539406565976, + 0.9999955858153085, + -0.0013254125308888572, + -0.004893593337834794 + ], + [ + -0.036958575923240554, + 0.0012262291839794685, + 0.9993160461174003, + 0.2725249761502359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991870782917092, + 0.003153057619438114, + 0.040190058503645695, + -0.019885572736458447 + ], + [ + -0.0030754542735129623, + 0.9999932855620081, + -0.0019925892481547627, + -0.004482556729635256 + ], + [ + -0.04019607139870127, + 0.0018673667419214575, + 0.9991900663965599, + 0.29522177055755416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990437456231278, + 0.0035527368636810394, + 0.04357720037001744, + -0.022540712154029887 + ], + [ + -0.0034627947838959225, + 0.9999917162260312, + -0.002139282964318629, + -0.004140333250572077 + ], + [ + -0.04358443969578856, + 0.001986338363482547, + 0.9990477721692342, + 0.3152419223195576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988903748629497, + 0.003846569553133671, + 0.04693850134835034, + -0.02428443607770779 + ], + [ + -0.0037849496550767447, + 0.9999918548203586, + -0.0014015880449273794, + -0.0064597254731486795 + ], + [ + -0.046943510331724406, + 0.0012223729431126808, + 0.9988967977935076, + 0.3364534743844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987343717561925, + 0.00316682185408325, + 0.050195875449168, + -0.02508715901516407 + ], + [ + -0.003004871703979278, + 0.9999900353747744, + -0.003301499235259595, + -0.0051448039112224776 + ], + [ + -0.05020583052601073, + 0.003146488598786868, + 0.9987339356358587, + 0.358771449504994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985867140751677, + 0.0029484977232020026, + 0.05306487382191794, + -0.02565358715093933 + ], + [ + -0.002811070271053772, + 0.9999924997950995, + -0.0026642517672501903, + -0.005846571718039945 + ], + [ + -0.05307233136476102, + 0.002511317328489312, + 0.998587512904495, + 0.37805655859885295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9984196737272178, + 0.003037721267806425, + 0.056115304186427385, + -0.02619780720175395 + ], + [ + -0.002926538286864575, + 0.9999935888538362, + -0.002063401289337361, + -0.007368224603868204 + ], + [ + -0.056121212460990846, + 0.0018959168558878965, + 0.9984221627203517, + 0.3996690489113737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9982265273897685, + 0.0031179555553576235, + 0.05944811492822258, + -0.027283753509115875 + ], + [ + -0.0029555185457476618, + 0.9999916558009087, + -0.002820148698749962, + -0.006921019825046622 + ], + [ + -0.059456411979618214, + 0.0026394472360958474, + 0.9982274131643543, + 0.42003235703131947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9980353684658978, + 0.003385132932605306, + 0.06256152304866103, + -0.027947076893132125 + ], + [ + -0.003183460399407186, + 0.9999894116184797, + -0.003322985226009808, + -0.006564294702403528 + ], + [ + -0.06257210937010962, + 0.0031172946532954213, + 0.9980355773232834, + 0.44225380383847984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9978727550993228, + 0.003819756572394349, + 0.06507975176823294, + -0.027780483978996268 + ], + [ + -0.0036674413361156705, + 0.9999902497188564, + -0.002459744146367843, + -0.008420785785358221 + ], + [ + -0.06508851284622594, + 0.002215835496396547, + 0.9978770342925625, + 0.46336581976205915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9977118576220082, + 0.003643496338067615, + 0.06751128864772256, + -0.02716133349747652 + ], + [ + -0.0034473043463571136, + 0.9999894907414755, + -0.00302233342774695, + -0.00857739830389269 + ], + [ + -0.06752159101491324, + 0.0027826859397670376, + 0.9977139326509256, + 0.48328743419257586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975851620374173, + 0.002930384396215884, + 0.06939205523740385, + -0.025917606445753055 + ], + [ + -0.002687663686206362, + 0.9999899408185108, + -0.0035909226811146333, + -0.007571534701425958 + ], + [ + -0.06940187999391906, + 0.0033957486777307813, + 0.9975830030349495, + 0.505456469208105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9973907507906139, + 0.0029861501972426293, + 0.07213025124270292, + -0.024907557168447052 + ], + [ + -0.002853416599199998, + 0.9999940410413244, + -0.0019431663731616067, + -0.009680778136084566 + ], + [ + -0.07213562400816499, + 0.001732278511638334, + 0.9973933281108869, + 0.52652981606658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971662791276881, + 0.003384972700980726, + 0.07515286907667246, + -0.025390478304340547 + ], + [ + -0.0031572210228104822, + 0.9999900574790965, + -0.0031491107262691153, + -0.008873122547853636 + ], + [ + -0.07516278152154149, + 0.002902912807301471, + 0.9971670518880867, + 0.5474593745387366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9969012354492229, + 0.003921654958964931, + 0.07856556104423995, + -0.025844796231771862 + ], + [ + -0.0036339036195279467, + 0.9999861575032648, + -0.0038051999080081713, + -0.008648764716183008 + ], + [ + -0.07857939618180677, + 0.003507908812775707, + 0.9969016867632757, + 0.5696467896973146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9966556008367883, + 0.004121740665226972, + 0.08161264959887794, + -0.02545995887544006 + ], + [ + -0.0038858434963670624, + 0.9999878016210613, + -0.003049070251560976, + -0.00975636753674343 + ], + [ + -0.08162422153369893, + 0.002721738959897998, + 0.9966594596932554, + 0.5907796560920268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964534079659039, + 0.0038837916853277036, + 0.08405665895859121, + -0.02457197232374697 + ], + [ + -0.003655506550738021, + 0.999989201316625, + -0.002869585683690311, + -0.009766185839261888 + ], + [ + -0.08406689613036421, + 0.0025521387665070963, + 0.9964568448070007, + 0.6100096954004333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9962794662413185, + 0.0033488602832924485, + 0.08611626025737917, + -0.02282353538972952 + ], + [ + -0.0030494981110996194, + 0.9999888429321969, + -0.003607571537273606, + -0.008916942064187973 + ], + [ + -0.08612738070546484, + 0.00333153807259248, + 0.996278563026871, + 0.6317952101978476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9960660540934114, + 0.002996618445015381, + 0.08856317609862654, + -0.02179562106849335 + ], + [ + -0.002719629447303315, + 0.9999910267299726, + -0.003248087930551395, + -0.010656908363764353 + ], + [ + -0.08857211467753666, + 0.0029944511066682285, + 0.9960652658155085, + 0.6510645568464273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9958586181809548, + 0.003473943892664676, + 0.09084901930428477, + -0.021237793238792754 + ], + [ + -0.0031148528204832664, + 0.9999867679341757, + -0.004094099225453735, + -0.011667673840768347 + ], + [ + -0.0908620398550815, + 0.003794162673337983, + 0.9958562617380995, + 0.6726931697999213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9956637067053632, + 0.0035346857804858466, + 0.09295853455261717, + -0.020858650207935633 + ], + [ + -0.003124159148501977, + 0.999984716570902, + -0.004561387313946736, + -0.010329252495791419 + ], + [ + -0.09297323689832317, + 0.0042511905445691296, + 0.9956595324706143, + 0.6947953688241044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9954891184731336, + 0.003516041689650821, + 0.09481061360639265, + -0.020245417180193293 + ], + [ + -0.003235138190796464, + 0.9999899111269202, + -0.003116332020424854, + -0.012136780393904615 + ], + [ + -0.09482061422744792, + 0.002795549178911448, + 0.9954904499905152, + 0.7133009913432431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9953246076709577, + 0.0035386939811748413, + 0.09652151578566234, + -0.018985427270930957 + ], + [ + -0.003202872575001277, + 0.9999882679304724, + -0.003633952212444466, + -0.012410908811320722 + ], + [ + -0.09653324283335028, + 0.0033078159443388454, + 0.9953242644393615, + 0.7347645370769735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9951475161148062, + 0.003405105950161208, + 0.0983352755830798, + -0.018119945726691594 + ], + [ + -0.0029840580376748007, + 0.9999857417150599, + -0.004428517156977903, + -0.012005212834831533 + ], + [ + -0.09834895306082246, + 0.0041135896793477065, + 0.9951434880517436, + 0.7540810966848898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9949814834669882, + 0.0032561909001521242, + 0.10000622369959483, + -0.017219531084950293 + ], + [ + -0.0028535746853033768, + 0.9999872394682106, + -0.004168694311565351, + -0.012985743181308232 + ], + [ + -0.100018521631481, + 0.003862398421919737, + 0.9949780787580617, + 0.7749362664788735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9947988361346769, + 0.0035038180893745626, + 0.1017988157293046, + -0.01704312074175282 + ], + [ + -0.003126780047408705, + 0.9999876498270668, + -0.0038630868324602235, + -0.014623697594577906 + ], + [ + -0.10181109404985034, + 0.0035246917789464012, + 0.9947975058655083, + 0.7961464429755449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9945997428716264, + 0.004039013114939842, + 0.10370649860424268, + -0.017314132019764714 + ], + [ + -0.003517764588551117, + 0.9999802477185469, + -0.0052085991449917655, + -0.013719373672074351 + ], + [ + -0.1037254877645508, + 0.004815656321937553, + 0.9945943055548805, + 0.8163422367727332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9944268438691211, + 0.004334764829478267, + 0.10533974561566192, + -0.01656148415882286 + ], + [ + -0.003857618090031046, + 0.9999813589313349, + -0.004732924308802445, + -0.014872492542453576 + ], + [ + -0.10535829808406509, + 0.004300186474387609, + 0.994425028557264, + 0.8376871723710132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9942866392159085, + 0.004645672377432219, + 0.10664190923317036, + -0.015002376081577395 + ], + [ + -0.00429008426577973, + 0.9999844479268436, + -0.0035635770566470894, + -0.016414401115320547 + ], + [ + -0.10665680594189333, + 0.0030857142783666186, + 0.9942911063233272, + 0.8586591883037256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9940793610081156, + 0.0038002177213769276, + 0.1085899735839694, + -0.013780161414106706 + ], + [ + -0.003387685899425707, + 0.9999863287006777, + -0.003983214278353158, + -0.015872193565350697 + ], + [ + -0.10860362609942577, + 0.0035917623822542847, + 0.9940786445956104, + 0.8782258152355794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9938337936806257, + 0.0033274763063156467, + 0.11083013326621391, + -0.012282482480130003 + ], + [ + -0.0029967395803817383, + 0.9999905465238096, + -0.0031506213514622635, + -0.017598793550453715 + ], + [ + -0.11083956915408504, + 0.0027990649231170745, + 0.9938343700764698, + 0.8989491479177489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9935225561685095, + 0.003246466112238715, + 0.11358869152417081, + -0.011727689083580517 + ], + [ + -0.0028892992625724834, + 0.9999903516009189, + -0.0033088751627293636, + -0.01901863431023013 + ], + [ + -0.11359833772622926, + 0.00295925038706001, + 0.9935223502785353, + 0.9193120268567389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9931370629578714, + 0.0034175656526819714, + 0.11690634894830418, + -0.012180393698391245 + ], + [ + -0.002965368438060373, + 0.9999874353730619, + -0.004041742944946472, + -0.018699501121728163 + ], + [ + -0.11691869298550858, + 0.0036673343201946633, + 0.9931347189024984, + 0.9381966467356744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9926715375359894, + 0.0038355229441493725, + 0.12078289336524309, + -0.012339641330907009 + ], + [ + -0.003387790161080761, + 0.9999866092817298, + -0.003912049980985497, + -0.018500463110025928 + ], + [ + -0.12079628075300691, + 0.0034741935717728734, + 0.9926712388979881, + 0.9595331133104483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9921543320596831, + 0.004131127526015483, + 0.12495085097976817, + -0.01245589328030855 + ], + [ + -0.0037519229835561293, + 0.9999876149988165, + -0.0032700035021997367, + -0.020463241958746204 + ], + [ + -0.124962812264809, + 0.002775542170951915, + 0.9921575438994191, + 0.9783240809620057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9915427391850348, + 0.003903571947764722, + 0.1297218504936107, + -0.01198435944206605 + ], + [ + -0.0032331517116208942, + 0.9999803099518016, + -0.005378330475927979, + -0.01946322300457719 + ], + [ + -0.12974029096409376, + 0.004913434109385933, + 0.9915358365010339, + 1.0000240648577314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9908500307377094, + 0.0034024336644956207, + 0.13492457164000782, + -0.011414148177906008 + ], + [ + -0.0027781369875967284, + 0.9999845486684714, + -0.004815016011647222, + -0.020063358200095957 + ], + [ + -0.13493886964829313, + 0.004396119820134462, + 0.9908441732122002, + 1.0207925076799598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9900229882187935, + 0.0032261954594106582, + 0.14086899751609208, + -0.011865363074283597 + ], + [ + -0.0026871716319342193, + 0.9999883234705866, + -0.004016469980739108, + -0.02181886437338938 + ], + [ + -0.14088031057231384, + 0.003597858438478156, + 0.9900200975271691, + 1.0396050130008532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9889931682421867, + 0.003284525444940291, + 0.1479247276924426, + -0.012832779728632199 + ], + [ + -0.002583381838749482, + 0.9999845018774893, + -0.004931748483561012, + -0.021313629484936772 + ], + [ + -0.14793863359027276, + 0.004495319502707987, + 0.9889863258882863, + 1.0622241653288405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9878791220512513, + 0.003288063261685255, + 0.15519029884382657, + -0.014173986734337563 + ], + [ + -0.0025722924321001503, + 0.9999851100093171, + -0.00481280285260215, + -0.021580796848718643 + ], + [ + -0.15520381286196805, + 0.004355272625383035, + 0.9878728704005723, + 1.082751149194425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.986567675664319, + 0.0029133137451285186, + 0.1633270765590491, + -0.014707408142153988 + ], + [ + -0.0022702688388784825, + 0.9999889205347802, + -0.004123673978951239, + -0.023122124610954857 + ], + [ + -0.1633372805384682, + 0.0036974870801542285, + 0.9865633590274828, + 1.1050340097001796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9851488821453662, + 0.0021584316184353894, + 0.17168873341219507, + -0.01437733107926642 + ], + [ + -0.00133331421221611, + 0.999987002636368, + -0.004921060002074238, + -0.02367011371221356 + ], + [ + -0.1716971236828001, + 0.004619061731677847, + 0.9851389556746664, + 1.1276836820734686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9837226391748921, + 0.0014091856730671073, + 0.17968801676941198, + -0.014119600549845401 + ], + [ + -0.0004055276193029393, + 0.9999841132494597, + -0.005622170047450972, + -0.023341492188283342 + ], + [ + -0.17969308479219684, + 0.005457787503310729, + 0.9837075824824335, + 1.1487866454990145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9819693891958526, + -2.8305212720436806e-05, + 0.18903999016382605, + -0.013808810352710255 + ], + [ + 0.0008031255530509684, + 0.9999915887727601, + -0.004022110525287554, + -0.025920269394534037 + ], + [ + -0.1890382862588173, + 0.0041014122624438995, + 0.9819611523608168, + 1.1712025437290643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9798540277715905, + 0.00041866792575889127, + 0.19971456876492252, + -0.015795273676249916 + ], + [ + 0.0006937370156548519, + 0.9999846344564545, + -0.005499961812977268, + -0.02589417453836988 + ], + [ + -0.1997138026996235, + 0.005527709123953489, + 0.9798386813364213, + 1.1956979154969982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9776831254773628, + 0.0007725824302132967, + 0.21008357687645202, + -0.01859324535885698 + ], + [ + 0.0003290190984722271, + 0.9999863808496887, + -0.0052086333691692575, + -0.025860021359416972 + ], + [ + -0.21008473981526704, + 0.005161514460902795, + 0.9776695560695453, + 1.2172525954562967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9754876711772039, + 0.00020666413563586022, + 0.2200539948994589, + -0.020634410718545187 + ], + [ + 0.0007660110386662337, + 0.999990311195007, + -0.0043348290856875145, + -0.027670049500122213 + ], + [ + -0.22005275869292046, + 0.0043971361189441074, + 0.9754780615603754, + 1.2409568213504585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9734033786233804, + -5.4944776735255915e-05, + 0.22909792549401137, + -0.021923999525737786 + ], + [ + 0.0013106880523431565, + 0.9999849413171155, + -0.005329093340763374, + -0.027519040817184134 + ], + [ + -0.22909418277515806, + 0.005487633376660027, + 0.9733887924660455, + 1.265052935215916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9714772954998052, + -0.00040026275600759417, + 0.23713225026999243, + -0.02317315529901784 + ], + [ + 0.0018405007289485546, + 0.9999811818780735, + -0.005852217254844327, + -0.027249559992867434 + ], + [ + -0.23712544546178696, + 0.006121738270892593, + 0.9714597508055038, + 1.2863859582644364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9693711980754939, + -0.001171375269170505, + 0.24559745157810642, + -0.024657022540966272 + ], + [ + 0.0024093372537368194, + 0.9999858626528945, + -0.004740209736340877, + -0.029069854855245544 + ], + [ + -0.24558842691722937, + 0.005186749880755835, + 0.9693603159764667, + 1.3092088565016844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9672254870023093, + -0.000943949038456435, + 0.2539172429224898, + -0.027268915604456656 + ], + [ + 0.0022919192483310787, + 0.9999848087307935, + -0.005012924675040963, + -0.03037099596549015 + ], + [ + -0.25390865365186954, + 0.005430586326659601, + 0.9672129570745234, + 1.3301730022897422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9647030483259237, + 0.0005359724732987099, + 0.2633395930812131, + -0.030163742487523848 + ], + [ + 0.0014259090217639946, + 0.9999726377315908, + -0.007258827149541791, + -0.028646985698349583 + ], + [ + -0.26333627804412496, + 0.0073781109799961, + 0.9646758876141948, + 1.3544011311712174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9622729404447505, + -0.0007085578551893174, + 0.2720850713170053, + -0.03175390368238015 + ], + [ + 0.0021863652137014272, + 0.9999844600643062, + -0.005128297675704073, + -0.03132602077823243 + ], + [ + -0.27207720943689184, + 0.005529699418970709, + 0.9622595359513824, + 1.3771621976789457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9598637139310511, + -0.0006154600195653414, + 0.28046616888219067, + -0.03290052684017361 + ], + [ + 0.0023545156992133384, + 0.9999800365030129, + -0.005863689218843301, + -0.03173076431948353 + ], + [ + -0.28045696093039185, + 0.006288704508667732, + 0.9598460008049684, + 1.3984754991767212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9572048602941835, + -0.0010411342966078344, + 0.28940934931092, + -0.03293716572822436 + ], + [ + 0.0029507009087169737, + 0.9999766618233857, + -0.006161913071960742, + -0.03154993275046886 + ], + [ + -0.28939617964537984, + 0.006752173571194001, + 0.9571855929540124, + 1.422521605919845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.95450063859702, + -0.0020850154107346693, + 0.2982015822034125, + -0.033089870770704743 + ], + [ + 0.003880604387192699, + 0.9999777307467123, + -0.0054294493501883265, + -0.032980455273862015 + ], + [ + -0.29818362099128065, + 0.006339615240151297, + 0.9544874737004858, + 1.4438579822164073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.951185692367422, + -0.0026799660231044205, + 0.30860751192675684, + -0.03309364976483656 + ], + [ + 0.0045600239237826605, + 0.9999751789786736, + -0.005370996963735605, + -0.034532168293103814 + ], + [ + -0.3085854578837488, + 0.006516073103099224, + 0.9511743036762466, + 1.4676635788308994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9474250224614995, + -0.002141984388487127, + 0.31997068415201235, + -0.0331339353512102 + ], + [ + 0.004491911232861385, + 0.9999680890361118, + -0.0066063335476816976, + -0.034363955885652664 + ], + [ + -0.31994632291574077, + 0.007696285620129256, + 0.9474044108195561, + 1.4921601606821846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9437326464633276, + -0.0023516307796712724, + 0.33070101577104427, + -0.03313356030517517 + ], + [ + 0.004617552192702066, + 0.9999709379383472, + -0.00606642320070052, + -0.035720418929836364 + ], + [ + -0.330677138930214, + 0.007252110822266016, + 0.9437160784248353, + 1.5137770111683622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9394786433509795, + -0.004090525596639727, + 0.34258305020497765, + -0.0315708590691956 + ], + [ + 0.005906535599648578, + 0.9999734916768936, + -0.004257790592744803, + -0.03867014792448021 + ], + [ + -0.34255655230138726, + 0.006023582311616347, + 0.9394779001826078, + 1.5375371252270604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9349301204179827, + -0.003667375914167917, + 0.3548129370374205, + -0.02905031805872091 + ], + [ + 0.006115306361327046, + 0.9999646077760151, + -0.0057780812963818375, + -0.03742098869358963 + ], + [ + -0.35477918902230365, + 0.007571892053157235, + 0.9349194582890079, + 1.5622012252036908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9305706132583228, + -0.005576922346406949, + 0.3660699819394804, + -0.02695633512712442 + ], + [ + 0.007847555164078491, + 0.9999580915045883, + -0.004714988064544465, + -0.039443075620176876 + ], + [ + -0.36602834537502166, + 0.007260383711912105, + 0.9305753796498057, + 1.5827381826311535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.92558035069012, + -0.006808969664537863, + 0.3784899633391388, + -0.024406022209300465 + ], + [ + 0.00902390860030605, + 0.9999509657644804, + -0.004078619896105303, + -0.04122908658161047 + ], + [ + -0.37844363317398877, + 0.007190549269074422, + 0.9255964090851266, + 1.6059472652809343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9200644943795668, + -0.006630713049916076, + 0.39171081147515213, + -0.022428417007487045 + ], + [ + 0.009244175634755849, + 0.9999458163355819, + -0.004786398416478631, + -0.041498885997334305 + ], + [ + -0.3916578499135518, + 0.008024838778265613, + 0.9200759373897771, + 1.6299215118911061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9147853120442189, + -0.0070523096983355175, + 0.4038788157307586, + -0.020796133699753083 + ], + [ + 0.009767354103134427, + 0.9999414276458383, + -0.004662624950310278, + -0.04272609413790401 + ], + [ + -0.40382227732256837, + 0.008210128228111646, + 0.9148006133210084, + 1.6515641852666478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.909145179147767, + -0.008515789107005886, + 0.4163922724646313, + -0.01779715233844195 + ], + [ + 0.01099139871057427, + 0.999933296527831, + -0.0035484714131694016, + -0.04522049784726587 + ], + [ + -0.41633427962006675, + 0.0078028091652874625, + 0.9091781364410224, + 1.6754667826114573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9038638117833172, + -0.008679277951602648, + 0.4277322525631796, + -0.014995955253888638 + ], + [ + 0.011643185503123722, + 0.9999229097632264, + -0.00431401923770238, + -0.04506849659625363 + ], + [ + -0.42766183601050106, + 0.008879451834558296, + 0.903895187151279, + 1.6977982059614902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8982844827043562, + -0.009337977255549704, + 0.43931513781492004, + -0.011442046162007252 + ], + [ + 0.012495887144089248, + 0.9999126908539939, + -0.004296914428715643, + -0.0454700057686055 + ], + [ + -0.4392366570962054, + 0.009349483937648971, + 0.8983227405632401, + 1.7217377095468513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_199/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_199/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6bb94a4fd22da7ebf09a7b05051200fbe1df3d2c --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_199/orbit_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999995215758, + 1.6856370052417727e-05, + 2.593667788018041e-05, + -0.00010134775118467604 + ], + [ + -1.6856495782291647e-05, + 0.9999999998461808, + 4.8473595105874235e-06, + -8.68453831984716e-05 + ], + [ + -2.5936596167305162e-05, + -4.847796709769624e-06, + 0.999999999651896, + -5.909470106208388e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999957553437052, + 0.0001934888342663154, + -0.0029072077055496887, + 0.006917272274374246 + ], + [ + -0.00019444985495535588, + 0.9999999265502575, + -0.0003302858361691, + -0.0005601498955161676 + ], + [ + 0.0029071435853946165, + 0.00033084974033591565, + 0.9999957195181503, + 0.021364273863569972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999833798877048, + 0.0003530145382227558, + -0.00575459200104373, + 0.012220131684469364 + ], + [ + -0.00035891514426274597, + 0.9999994109197448, + -0.001024373019462219, + 0.00023340978120351755 + ], + [ + 0.005754226992558771, + 0.001026421404485831, + 0.9999829175195039, + 0.041433947821714265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999635445584324, + 0.0008898657563909167, + -0.008492213673233783, + 0.017527313058355184 + ], + [ + -0.0008958151708213384, + 0.999999355995899, + -0.000696794781395278, + -0.001198785132947044 + ], + [ + 0.008491588150398155, + 0.0007043768332761792, + 0.9999636977330533, + 0.06296458459277389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999326907819799, + 0.0009673691827859774, + -0.011561924682945828, + 0.022942956131487224 + ], + [ + -0.0009812386939311094, + 0.9999988057994499, + -0.0011939724870483417, + -0.0019933847516095298 + ], + [ + 0.011560755863499946, + 0.0012052371295691242, + 0.9999324458818837, + 0.08251380593818551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998879682790507, + 0.000666637380543136, + -0.014953477367992098, + 0.028832646163164347 + ], + [ + -0.0006976711583835271, + 0.9999976136888276, + -0.0020702346739998882, + -0.0017617606916392504 + ], + [ + 0.0149520615885218, + 0.00208043535192378, + 0.9998860473288941, + 0.10440011538475374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999824963737063, + 0.000769264267471251, + -0.018693585013783674, + 0.034344118284837064 + ], + [ + -0.0007976797415571342, + 0.9999985377873474, + -0.0015126566686911986, + -0.0025502664165810186 + ], + [ + 0.018692394047062966, + 0.0015273033929833755, + 0.9998241154068725, + 0.1258427910810661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997384721951565, + 0.001361839622767875, + -0.022828329017609963, + 0.03894727754397892 + ], + [ + -0.0013787586185265745, + 0.9999987863964708, + -0.0007254172990228561, + -0.004418850668335038 + ], + [ + 0.022827313411048447, + 0.0007567023376086371, + 0.9997391365571352, + 0.14503169153808548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996407742776734, + 0.0016418317147160449, + -0.026751201658146307, + 0.04297406225465962 + ], + [ + -0.0017037957785831735, + 0.9999959180457617, + -0.002293680832132322, + -0.0027397683642386714 + ], + [ + 0.026747326623031684, + 0.0023384354674357882, + 0.9996394911357225, + 0.1679715600734616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995222335146204, + 0.0021378437568503952, + -0.030833980184470814, + 0.0475213959564449 + ], + [ + -0.002167905087471108, + 0.9999972068372968, + -0.0009415440172885304, + -0.0036151869750098453 + ], + [ + 0.030831881186148206, + 0.0010079393216214578, + 0.9995240763287532, + 0.1895745478135962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993735014045932, + 0.002293252473490555, + -0.035317781405641825, + 0.052501642281880326 + ], + [ + -0.002322965142517556, + 0.9999969816846551, + -0.0008002840286748669, + -0.0041652627971007486 + ], + [ + 0.035315839552112004, + 0.0008818246269713362, + 0.9993758121257774, + 0.2088790843648447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9991941159960328, + 0.0022661694978603625, + -0.040074718148899256, + 0.05754601496574577 + ], + [ + -0.002342598838637228, + 0.9999955257185443, + -0.0018603154499616226, + -0.00348995282673225 + ], + [ + 0.0400703230532019, + 0.0019526952396924906, + 0.9991949540463627, + 0.23138291610000322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9990105714255115, + 0.002392624607242634, + -0.04440893522211983, + 0.06242788052150564 + ], + [ + -0.002463841115312889, + 0.9999957650547575, + -0.001548986607265007, + -0.004208462361828873 + ], + [ + 0.04440504100923804, + 0.001656870556141804, + 0.9990122357173252, + 0.2532380837077884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9988387452962519, + 0.0027064204932515375, + -0.048102351118449835, + 0.06676743397563212 + ], + [ + -0.0027622704565513283, + 0.9999955858153085, + -0.0010946286232319006, + -0.005121818821516722 + ], + [ + 0.048099176260449496, + 0.0012262291839794685, + 0.9988418121029248, + 0.27299395290182554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9986728715390738, + 0.003153057619438114, + -0.05140577671380285, + 0.07069921535144622 + ], + [ + -0.003244877661632212, + 0.9999932855620081, + -0.001702821147793089, + -0.004769126330792152 + ], + [ + 0.05140006245970808, + 0.0018673667419214575, + 0.9986763972982386, + 0.29572976970738746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9985043894853576, + 0.0035527368636810394, + -0.0545560467707366, + 0.07451435133453296 + ], + [ + -0.00365580687905163, + 0.9999917162260312, + -0.0017895684898543247, + -0.00448620543467824 + ], + [ + 0.054549236974832535, + 0.001986338363482547, + 0.998509106220554, + 0.31577466998022863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9983247582878555, + 0.003846569553133671, + -0.05773110853056679, + 0.07924090452889349 + ], + [ + -0.0039107211493109905, + 0.9999918548203586, + -0.000998275027976083, + -0.006858629390907227 + ], + [ + 0.05772679836598864, + 0.0012223729431126808, + 0.9983316696142623, + 0.3370124244684829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.998132174391489, + 0.00316682185408325, + -0.06100929178299675, + 0.08490877081432832 + ], + [ + -0.0033528739520607676, + 0.9999900353747744, + -0.0029474374326501716, + -0.005495015669942492 + ], + [ + 0.060999349838993584, + 0.003146488598786868, + 0.9981328463329509, + 0.35936600260382506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9979020744477737, + 0.0029484977232020026, + -0.06467423114352916, + 0.09081250786384434 + ], + [ + -0.0031047344353622676, + 0.9999924997950995, + -0.0023153785077118234, + -0.00619167291619698 + ], + [ + 0.06466691918528544, + 0.002511317328489312, + 0.9979037442801584, + 0.3787329342311757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9976700202243053, + 0.003037721267806425, + -0.06815645967282861, + 0.09673843522066325 + ], + [ + -0.0031598721480333375, + 0.9999935888538362, + -0.001684475952160346, + -0.007743077713412444 + ], + [ + 0.06815090574337865, + 0.0018959168558878965, + 0.9976732228268097, + 0.4004099401118605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.99744609714385, + 0.0031179555553576235, + -0.0713551795292855, + 0.10212283668868632 + ], + [ + -0.003298336946018682, + 0.9999916558009087, + -0.0024102493538735014, + -0.007326542306454819 + ], + [ + 0.07134706907709859, + 0.0026394472360958474, + 0.9974480583230367, + 0.420803390000996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9971949374527145, + 0.003385132932605306, + -0.07477163629148065, + 0.10792959897481809 + ], + [ + -0.0036087282553592106, + 0.9999894116184797, + -0.0028554739196576953, + -0.007026847828997481 + ], + [ + 0.07476117842206506, + 0.0031172946532954213, + 0.9971965947971286, + 0.4430838885559141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9968846201733689, + 0.003819756572394349, + -0.07878111145145217, + 0.1145655945172466 + ], + [ + -0.003982443541356434, + 0.9999902497188564, + -0.0019080384323564303, + -0.008966682307288365 + ], + [ + 0.07877305507112434, + 0.002215835496396547, + 0.9968901122329457, + 0.46434235001374663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9965532228789765, + 0.003643496338067615, + -0.08287580409238555, + 0.12165421307234739 + ], + [ + -0.0038615684571519323, + 0.9999894907414755, + -0.0024711729311439378, + -0.009122799169453794 + ], + [ + 0.08286592941960955, + 0.0027826859397670376, + 0.9965568194540565, + 0.4844324555484497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9961585423341738, + 0.002930384396215884, + -0.08751897726747787, + 0.12936673588149783 + ], + [ + -0.003216318154927972, + 0.9999899408185108, + -0.0031262692331558077, + -0.00803137110632713 + ], + [ + 0.08750893572762256, + 0.0033957486777307813, + 0.9961579468431385, + 0.506866751901375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9958186251729413, + 0.0029861501972426293, + -0.09130360707920143, + 0.13684614129886818 + ], + [ + -0.0031318374675015958, + 0.9999940410413244, + -0.0014524034974927958, + -0.010166495789849617 + ], + [ + 0.09129872590978938, + 0.001732278511638334, + 0.9958220432679765, + 0.5280849475264625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954903693736565, + 0.003384972700980726, + -0.09480224915113897, + 0.14283275861743558 + ], + [ + -0.003644918647875729, + 0.9999900574790965, + -0.002568951343164645, + -0.00944736997490408 + ], + [ + 0.09479261074762832, + 0.002902912807301471, + 0.9954928096399702, + 0.5491165558775877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9951875953003845, + 0.003921654958964931, + -0.09790950302509743, + 0.14884847994497596 + ], + [ + -0.004246251257175716, + 0.9999861575032648, + -0.003107113148383457, + -0.00933980321353432 + ], + [ + 0.09789596268743501, + 0.003507908812775707, + 0.9951904717516451, + 0.5713407273547456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.994839234760332, + 0.004121740665226972, + -0.10138001891578995, + 0.1557029095649965 + ], + [ + -0.004376423607384079, + 0.9999878016210613, + -0.002289874556813896, + -0.010507971799823436 + ], + [ + 0.10136934397482329, + 0.002721738959897998, + 0.9948451378175138, + 0.5925758360043233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.994416943137164, + 0.0038837916853277036, + -0.10545074378060776, + 0.1630595867747566 + ], + [ + -0.004131253796142794, + 0.999989201316625, + -0.002128377835438231, + -0.010500056823578944 + ], + [ + 0.10544133887527352, + 0.0025521387665070963, + 0.9944222496725957, + 0.612024151045356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9939366846019092, + 0.0033488602832924485, + -0.109902921423264, + 0.1712757973409348 + ], + [ + -0.0036947051528868884, + 0.9999888429321969, + -0.0029433254932776072, + -0.009574682356761281 + ], + [ + 0.10989183844307268, + 0.00333153807259248, + 0.9939379682342719, + 0.6341128807622339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9934801203802561, + 0.002996618445015381, + -0.1139660944629009, + 0.17877189000615895 + ], + [ + -0.0033183498348836383, + 0.9999910267299726, + -0.0026334414572115905, + -0.011265601186321703 + ], + [ + 0.11395718039511678, + 0.0029944511066682285, + 0.9934811494431914, + 0.6536236426896038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.992985291256473, + 0.003473943892664676, + -0.11818689885993439, + 0.1857966356243128 + ], + [ + -0.003897996905334399, + 0.9999867679341757, + -0.00335701901798856, + -0.012397696609673391 + ], + [ + 0.11817367290739399, + 0.003794162673337983, + 0.9929856934322794, + 0.6755362528209029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9924522027894104, + 0.0035346857804858466, + -0.12258112079305157, + 0.19264203031943805 + ], + [ + -0.004029119116126792, + 0.999984716570902, + -0.003785871598597142, + -0.01109743194157032 + ], + [ + 0.12256586546667685, + 0.0042511905445691296, + 0.9924512763865834, + 0.6979732752569053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9918671260883054, + 0.003516041689650821, + -0.1272290911551408, + 0.19972014757150647 + ], + [ + -0.003843133673760272, + 0.9999899111269202, + -0.0023255038036272798, + -0.012920221245243715 + ], + [ + 0.12721963098866504, + 0.002795549178911448, + 0.9918706318849736, + 0.7168869956335074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.991241467426011, + 0.0035386939811748413, + -0.13201451018746435, + 0.20744368267685365 + ], + [ + -0.0039443881567998405, + 0.9999882679304724, + -0.00281172606818703, + -0.013225554700200851 + ], + [ + 0.13200301154593796, + 0.0033078159443388454, + 0.9912437960948263, + 0.7388073868267625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9906074252168626, + 0.003405105950161208, + -0.13669430989871853, + 0.21477239654400937 + ], + [ + -0.003935425075608719, + 0.9999857417150599, + -0.0036095423610382157, + -0.012816740277625896 + ], + [ + 0.13668006999812735, + 0.0041135896793477065, + 0.9906067013932712, + 0.7585766280415407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9899310650782903, + 0.0032561909001521242, + -0.1415128390422009, + 0.22213449072593183 + ], + [ + -0.003769982332018057, + 0.9999872394682106, + -0.003362756899354052, + -0.013784455956816393 + ], + [ + 0.14150008348470458, + 0.003862398421919737, + 0.9899307088136282, + 0.7799383904605284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9892478946402534, + 0.0035038180893745626, + -0.1462064506395762, + 0.22877189757690128 + ], + [ + -0.003981483414869894, + 0.9999876498270668, + -0.002974555959654603, + -0.015504381444454447 + ], + [ + 0.14619422266164755, + 0.0035246917789464012, + 0.9892496276512922, + 0.8016453253372959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9885588258436391, + 0.004039013114939842, + -0.15078174365520178, + 0.23496131385515873 + ], + [ + -0.004718913235177898, + 0.9999802477185469, + -0.0041516298766311075, + -0.014767152504936642 + ], + [ + 0.15076199688424302, + 0.004815656321937553, + 0.9885583593039231, + 0.8223256999701605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.987806503219899, + 0.004334764829478267, + -0.1556262253296309, + 0.24217188672831474 + ], + [ + -0.004951143891267652, + 0.9999813589313349, + -0.003573228793311573, + -0.016022266702045252 + ], + [ + 0.1556078351839775, + 0.004300186474387609, + 0.98780955149545, + 0.844246053109485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9869768448687689, + 0.004645672377432219, + -0.16079529041937748, + 0.2501852427656821 + ], + [ + -0.005081377747673243, + 0.9999844479268436, + -0.0022985875296806825, + -0.017668750027733514 + ], + [ + 0.16078211123466393, + 0.0030857142783666186, + 0.9869851017489153, + 0.865903737524599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9862325977332256, + 0.0038002177213769276, + -0.16532036025137384, + 0.2578664314603864 + ], + [ + -0.004341701508987624, + 0.9999863287006777, + -0.0029141104555762496, + -0.016932461744429413 + ], + [ + 0.16530702585304943, + 0.0035917623822542847, + 0.9862356140631958, + 0.8860040267842599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9855157247007938, + 0.0033274763063156467, + -0.16955142072215226, + 0.2658240928376603 + ], + [ + -0.0037538762205414425, + 0.9999905465238096, + -0.002194373790804546, + -0.018547282245475156 + ], + [ + 0.1695425161450373, + 0.0027990649231170745, + 0.9855188990855358, + 0.9071971482820633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9848699652687647, + 0.003246466112238715, + -0.1732645721700912, + 0.2728423307544419 + ], + [ + -0.0037100884728194427, + 0.9999903516009189, + -0.002352009480227804, + -0.019967883702567576 + ], + [ + 0.173255264725279, + 0.00295925038706001, + 0.9848725075267969, + 0.9278930201205335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843090362284613, + 0.0034175656526819714, + -0.1764200709783534, + 0.27885755262589534 + ], + [ + -0.0040109367150064764, + 0.9999874353730619, + -0.0030069058306974386, + -0.01972626464540426 + ], + [ + 0.17640757802788934, + 0.0036673343201946633, + 0.9843103763921816, + 0.9469521435044511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9838382660704863, + 0.0038355229441493725, + -0.17901830906129115, + 0.28517096274547005 + ], + [ + -0.004395492634212544, + 0.9999866092817298, + -0.0027314651255008746, + -0.019672027835836933 + ], + [ + 0.1790054352803893, + 0.0034741935717728734, + 0.9838419507822912, + 0.968294942214417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9834146012696607, + 0.004131127526015483, + -0.1813247247205913, + 0.29153015066717236 + ], + [ + -0.004565913156299181, + 0.9999876149988165, + -0.001980476212447229, + -0.02174312951908398 + ], + [ + 0.18131429741386515, + 0.002775542170951915, + 0.9834212840481815, + 0.9869950337959108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9830994396313651, + 0.003903571947764722, + -0.1830307458394477, + 0.2984830109629366 + ], + [ + -0.004736905521934325, + 0.9999803099518016, + -0.004115997421636813, + -0.020716332422488257 + ], + [ + 0.1830110748631682, + 0.004913434109385933, + 0.9830985732075297, + 1.0083996786139777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9828631483334186, + 0.0034024336644956207, + -0.18430533115805342, + 0.3055381624614951 + ], + [ + -0.004154351404609252, + 0.9999845486684714, + -0.0036937499538129653, + -0.02117662442220458 + ], + [ + 0.18428991565608807, + 0.004396119820134462, + 0.9828620966941393, + 1.0287176349124807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9827634516765186, + 0.0032261954594106582, + -0.18483936191112835, + 0.3115764306575296 + ], + [ + -0.003835615744418023, + 0.9999883234705866, + -0.0029395534264277283, + -0.022888286793613714 + ], + [ + 0.1848277200549652, + 0.003597858438478156, + 0.9827643508562673, + 1.0468102677945192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9828713303651421, + 0.003284525444940291, + -0.18426383215068962, + 0.3171037008727139 + ], + [ + -0.004056584422805436, + 0.9999845018774893, + -0.00381315193121639, + -0.022424642488718918 + ], + [ + 0.18424845201270112, + 0.004495319502707987, + 0.9828694216596079, + 1.0682995998782383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9830194348698316, + 0.003288063261685255, + -0.18347201232935778, + 0.3222543174449827 + ], + [ + -0.004031296178058468, + 0.9999851100093171, + -0.003678098799519432, + -0.022708015755958676 + ], + [ + 0.18345718661126806, + 0.004355272625383035, + 0.9830180528764653, + 1.087573941612859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.983330489300044, + 0.0029133137451285186, + -0.18180390924278483, + 0.32821128721181186 + ], + [ + -0.0035369661157634764, + 0.9999889205347802, + -0.0031062321840782, + -0.024133044601479237 + ], + [ + 0.18179284552377806, + 0.0036974870801542285, + 0.9833298988160891, + 1.1082467434238528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9836825449644941, + 0.0021584316184353894, + -0.17989994970850967, + 0.33502452717387915 + ], + [ + -0.002954166647583164, + 0.999987002636368, + -0.004155413066208896, + -0.02443099844770243 + ], + [ + 0.17988864230849616, + 0.004619061731677847, + 0.9836761360514572, + 1.1291374031947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9839669608070365, + 0.0014091856730671073, + -0.1783452669287956, + 0.3417561502556332 + ], + [ + -0.0023599453710053376, + 0.9999841132494597, + -0.0051189751453140355, + -0.023841654803752405 + ], + [ + 0.17833522001559424, + 0.005457787503310729, + 0.983954654370596, + 1.1485410624828365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9844932748297349, + -2.8305212720436806e-05, + -0.17542232188019707, + 0.34852916478709856 + ], + [ + -0.0006916132054437468, + 0.9999915887727601, + -0.004042778117291149, + -0.025899722267464575 + ], + [ + 0.17542096079487932, + 0.0041014122624438995, + 0.9844849744568249, + 1.1686934322032332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9852447732553727, + 0.00041866792575889127, + -0.17115069818769987, + 0.3529828769820653 + ], + [ + -0.001358555561519259, + 0.9999846344564545, + -0.005374493257727931, + -0.02601893699496448 + ], + [ + 0.17114581823624983, + 0.005527709123953489, + 0.9852302032175453, + 1.1903367354520393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9859294585352936, + 0.0007725824302132967, + -0.16716012056914742, + 0.3566046274477001 + ], + [ + -0.0016245017524692724, + 0.9999863808496887, + -0.004959748904713547, + -0.026107556102265388 + ], + [ + 0.16715401217547726, + 0.005161514460902795, + 0.985917286075313, + 1.2090495935914527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9865356418784329, + 0.00020666413563586022, + -0.1635462766113742, + 0.36096544026635113 + ], + [ + -0.0009230148397630547, + 0.999990311195007, + -0.00430413286494018, + -0.027700585644470723 + ], + [ + 0.16354380253349454, + 0.0043971361189441074, + 0.986526274281044, + 1.2299662234782214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9869794388632456, + -5.4944776735255915e-05, + -0.16084646170265743, + 0.36606949328698823 + ], + [ + -0.0008284378659703465, + 0.9999849413171155, + -0.005425018867004071, + -0.027423595206994455 + ], + [ + 0.160844337643248, + 0.005487633376660027, + 0.9869645307345287, + 1.251545116457023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9872540813287878, + -0.00040026275600759417, + -0.15915155886568397, + 0.37121343274220087 + ], + [ + -0.0005791306782791726, + 0.9999811818780735, + -0.00610741331404988, + -0.02699558569275369 + ], + [ + 0.15915100850232958, + 0.006121738270892593, + 0.9872352712566717, + 1.2706859636093926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9875978213173605, + -0.001171375269170505, + -0.15700054525122392, + 0.37610173469752095 + ], + [ + 0.0003425092196242273, + 0.9999858626528945, + -0.005306334118882576, + -0.028506316770663377 + ], + [ + 0.15700454138857675, + 0.005186749880755835, + 0.9875842605109891, + 1.2910681667288675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9879173818142272, + -0.000943949038456435, + -0.1549785651938211, + 0.3798499576525453 + ], + [ + 9.09051000492848e-05, + 0.9999848087307935, + -0.005511265181543171, + -0.029874821092873722 + ], + [ + 0.15498141322618483, + 0.005430586326659601, + 0.9879024599051079, + 1.3095734096467206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9884099498509179, + 0.0005359724732987099, + -0.15180739036428448, + 0.38327311778691614 + ], + [ + -0.0016497982776280053, + 0.9999726377315908, + -0.007211238019120477, + -0.028694378793925723 + ], + [ + 0.15179937154464615, + 0.0073781109799961, + 0.9883837889590348, + 1.3307908902527896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9887910327890104, + -0.0007085578551893174, + -0.14930435834833586, + 0.38799661197711444 + ], + [ + -0.00012500352046592288, + 0.9999844600643062, + -0.005573509129640554, + -0.030882540889532413 + ], + [ + 0.14930598732188305, + 0.005529699418970709, + 0.9887755784677197, + 1.350749284264575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9891135722612205, + -0.0006154600195653414, + -0.14715285378684093, + 0.39315526715596105 + ], + [ + -0.0003166532294574011, + 0.9999800365030129, + -0.006310810262184677, + -0.03128527779752253 + ], + [ + 0.14715380015269514, + 0.006288704508667732, + 0.9890936312079981, + 1.3693347880921423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9895192235850084, + -0.0010411342966078344, + -0.14439744525129014, + 0.39938672128403907 + ], + [ + 5.520180357765241e-05, + 0.9999766618233857, + -0.006831746579022499, + -0.030882388975097066 + ], + [ + 0.1444011880438793, + 0.006752173571194001, + 0.9894961874830956, + 1.3903214606164793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9898973205245748, + -0.0020850154107346693, + -0.14177075695997574, + 0.4054844949906922 + ], + [ + 0.0011651382194489768, + 0.9999777307467123, + -0.006571184336612307, + -0.03184234804991551 + ], + [ + 0.1417813008516888, + 0.006339615240151297, + 0.9898777055815583, + 1.4085801996837508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9905068644686574, + -0.0026799660231044205, + -0.13743714644368873, + 0.4116428436699465 + ], + [ + 0.0017589209940578458, + 0.9999751789786736, + -0.0068225818798010665, + -0.033084840602077815 + ], + [ + 0.13745201940097357, + 0.006516073103099224, + 0.9904869929251519, + 1.4284661862919465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9912390920937852, + -0.002141984388487127, + -0.13206238755969923, + 0.4176856290115797 + ], + [ + 0.001106766130183883, + 0.9999680890361118, + -0.007911762016150936, + -0.03306203191085682 + ], + [ + 0.13207512019234283, + 0.007696285620129256, + 0.9912098313746852, + 1.448472338159352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9918614787870819, + -0.0023516307796712724, + -0.12729994788286306, + 0.4237532534501911 + ], + [ + 0.0014092386592705352, + 0.9999709379383472, + -0.0074924845747951045, + -0.03429782664480785 + ], + [ + 0.12731386784127155, + 0.007252110822266016, + 0.9918359672566412, + 1.4657741805384257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9926110507262157, + -0.004090525596639727, + -0.12127064598055642, + 0.4312730023720045 + ], + [ + 0.0033297652756511826, + 0.9999734916768936, + -0.006475230245377359, + -0.036457535758667545 + ], + [ + 0.1212939183941523, + 0.006023582311616347, + 0.9925983587618548, + 1.4845323127775076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.993380373303425, + -0.003667375914167917, + -0.11481282284419415, + 0.43967479166095835 + ], + [ + 0.00277365732109015, + 0.9999646077760151, + -0.007942922662700906, + -0.03526029906870747 + ], + [ + 0.11483788904631302, + 0.007571892053157235, + 0.9933553874068043, + 1.503877364744641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9939909875661904, + -0.005576922346406949, + -0.1093197812581595, + 0.4476467144194398 + ], + [ + 0.004749622398507222, + 0.9999580915045883, + -0.007826641781354905, + -0.03633657132105682 + ], + [ + 0.10935884840405598, + 0.007260383711912105, + 0.9939758191747398, + 1.5194426633109015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.994707926776086, + -0.006808969664537863, + -0.10251720997436915, + 0.45593337728678984 + ], + [ + 0.006035728772368278, + 0.9999509657644804, + -0.007850862683169873, + -0.03746208073300732 + ], + [ + 0.10256563940720058, + 0.007190549269074422, + 0.9947002491274453, + 1.536939360887029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9954766675972109, + -0.006630713049916076, + -0.09477466915796882, + 0.4635131712772208 + ], + [ + 0.005840067805760731, + 0.9999458163355819, + -0.008617308221921733, + -0.037672259161504046 + ], + [ + 0.09482667281718206, + 0.008024838778265613, + 0.9954614528373293, + 1.5546202776948252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9960881355950402, + -0.0070523096983355175, + -0.08808343235090264, + 0.4707508787541573 + ], + [ + 0.006301447693129979, + 0.9999414276458383, + -0.008799604228260479, + -0.03859260663436164 + ], + [ + 0.08814033063114768, + 0.008210128228111646, + 0.9960742321286653, + 1.5703591646131312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9966836477773161, + -0.008515789107005886, + -0.08092705103479449, + 0.4792404957774003 + ], + [ + 0.007856092979801855, + 0.999933296527831, + -0.008466658022951098, + -0.040305096836262225 + ], + [ + 0.08099375319366263, + 0.0078028091652874625, + 0.9966840663483761, + 1.5880104149575849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.997147247155468, + -0.008679277951602648, + -0.07498024822919555, + 0.4875732512290174 + ], + [ + 0.007988669220572573, + 0.9999229097632264, + -0.00950556125264011, + -0.039878434390206545 + ], + [ + 0.07505696939230384, + 0.008879451834558296, + 0.9971397127187148, + 1.6045802590247467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9975947507547956, + -0.009337977255549704, + -0.06868417173739574, + 0.49655726339030853 + ], + [ + 0.008673298495246846, + 0.9999126908539939, + -0.00996918062520027, + -0.03979773957212088 + ], + [ + 0.06877126696295176, + 0.009349483937648971, + 0.9975886426731262, + 1.622471807436965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_199/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_199/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e80725ed065885221590549bd89ef440aaeb47 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_199/push_in/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999995215758, + 1.6856370052417727e-05, + 2.593667788018041e-05, + -0.00010134775118467604 + ], + [ + -1.6856495782291647e-05, + 0.9999999998461808, + 4.8473595105874235e-06, + -8.68453831984716e-05 + ], + [ + -2.5936596167305162e-05, + -4.847796709769624e-06, + 0.999999999651896, + -5.909470106208388e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999145661183, + 0.0001934888342663154, + 0.0003652804773259352, + 0.0036823355047078694 + ], + [ + -0.00019336795781233217, + 0.9999999265502575, + -0.0003309204021476594, + -0.0005597970066505812 + ], + [ + -0.00036534447989902463, + 0.00033084974033591565, + 0.9999998785309228, + 0.022189528568451723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999996253554834, + 0.0003530145382227558, + 0.0007903604424884228, + 0.005750960610165678 + ], + [ + -0.0003522029990298279, + 0.9999994109197448, + -0.0010267001564515739, + 0.00023399655089666651 + ], + [ + -0.0007907224169843145, + 0.001026421404485831, + 0.9999991606082277, + 0.04308720844602369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999987260480955, + 0.0008898657563909167, + 0.0013251570178189087, + 0.007824887309299828 + ], + [ + -0.0008889313436745899, + 0.999999355995899, + -0.000705555705728644, + -0.0011919017072481027 + ], + [ + -0.0013257840142741088, + 0.0007043768332761792, + 0.9999988730743773, + 0.06544966797332959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999983650406569, + 0.0009673691827859774, + 0.0015277803760932376, + 0.010007061043476097 + ], + [ + -0.000965526011852947, + 0.9999988057994499, + -0.0012067142141913199, + -0.0019848676071723245 + ], + [ + -0.0015289458897603104, + 0.0012052371295691242, + 0.9999981048621681, + 0.08582987702147261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999987859689907, + 0.000666637380543136, + 0.0014084229292826583, + 0.012662278697989545 + ], + [ + -0.0006637051425239939, + 0.9999976136888276, + -0.0020813726563157406, + -0.0017596004841995876 + ], + [ + -0.001409807089162827, + 0.00208043535192378, + 0.9999968421113729, + 0.10854327182395669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999992620581808, + 0.000769264267471251, + 0.0009402742051244019, + 0.01493735335319611 + ], + [ + -0.0007678269453630836, + 0.9999985377873474, + -0.0015280264884487465, + -0.002542917029483997 + ], + [ + -0.0009414482864208754, + 0.0015273033929833755, + 0.9999983905084397, + 0.1308054949507045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999990697227856, + 0.001361839622767875, + 7.711293934064982e-05, + 0.016301076991932444 + ], + [ + -0.0013617808771747726, + 0.9999987863964708, + -0.000756808052576101, + -0.0043923765257047045 + ], + [ + -7.81434969489424e-05, + 0.0007567023376086371, + 0.9999997106475413, + 0.15080196935895684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999984871738924, + 0.0016418317147160444, + -0.0005744898147552843, + 0.01708840952765516 + ], + [ + -0.0016431703657456146, + 0.9999959180457615, + -0.002337495019020251, + -0.0027126501147959167 + ], + [ + 0.0005706496962589316, + 0.002338435467435788, + 0.9999971030350483, + 0.17454935410294023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967536103008, + 0.0021378437568503952, + -0.0013865038516863279, + 0.01839406468664456 + ], + [ + -0.0021392381341245508, + 0.9999972068372968, + -0.0010049765222542495, + -0.003560352037867188 + ], + [ + 0.001384351496171599, + 0.0010079393216214578, + 0.9999985338135546, + 0.19695088403703007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999939897310455, + 0.002293252473490555, + -0.002600287460824972, + 0.020128027828143685 + ], + [ + -0.0022955368384731285, + 0.9999969816846551, + -0.0008758608354735807, + -0.004098214446695943 + ], + [ + 0.002598271042310044, + 0.0008818246269713362, + 0.9999962356793741, + 0.21703572137647376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999890758249086, + 0.0022661694978603625, + -0.004088117739532896, + 0.021921727055284418 + ], + [ + -0.0022741291293530367, + 0.9999955257185443, + -0.001943419562312369, + -0.0034266386982135105 + ], + [ + 0.0040836953300098485, + 0.0019526952396924906, + 0.9999897551543978, + 0.24030229535496442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999838570946844, + 0.0023926246072426337, + -0.00515372656694806, + 0.023554685917469273 + ], + [ + -0.002401128654289877, + 0.9999957650547573, + -0.0016445223429740019, + -0.004131506162154841 + ], + [ + 0.005149770016573292, + 0.0016568705561418036, + 0.9999853672173092, + 0.26292688416567706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999807768075124, + 0.0027064204932515375, + -0.005578647108177129, + 0.024650383887795526 + ], + [ + -0.002713217094223856, + 0.9999955858153085, + -0.0012111163848063096, + -0.005020680705040853 + ], + [ + 0.005575344692794912, + 0.0012262291839794685, + 0.9999837058140222, + 0.28347223673925726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999792718060511, + 0.003153057619438114, + -0.005613749717303639, + 0.025342055366972566 + ], + [ + -0.0031634854718491736, + 0.9999932855620081, + -0.0018496460660705647, + -0.004647180933132109 + ], + [ + 0.0056078799835073715, + 0.0018673667419214575, + 0.9999825321592082, + 0.30701258820623617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999785855544328, + 0.0035527368636810394, + -0.005496043425363709, + 0.025918882489475718 + ], + [ + -0.003563593335713599, + 0.9999917162260312, + -0.0019667948175796915, + -0.004337581075154533 + ], + [ + 0.005489010392930538, + 0.001986338363482547, + 0.9999829624672674, + 0.32786917797657655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999780016728858, + 0.00384656955313367, + -0.005403709186745049, + 0.027406985426960448 + ], + [ + -0.0038531159637087264, + 0.9999918548203584, + -0.0012015782576935597, + -0.006675020439925839 + ], + [ + 0.00539904321822124, + 0.0012223729431126806, + 0.9999846779509752, + 0.34991791266050665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999803238492876, + 0.00316682185408325, + -0.005415085744352765, + 0.02983494467413107 + ], + [ + -0.0031837984227555574, + 0.9999900353747744, + -0.0031293096301028196, + -0.005363749034236744 + ], + [ + 0.005405121818927954, + 0.003146488598786868, + 0.9999804419425514, + 0.37307769014735326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999787472161429, + 0.0029484977232020026, + -0.005814763727793374, + 0.03249320815818065 + ], + [ + -0.0029630414220727275, + 0.9999924997950995, + -0.0024941409501428174, + -0.006056118685297865 + ], + [ + 0.005807366146961126, + 0.002511317328489312, + 0.9999799836915292, + 0.39322776042192775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999771919389182, + 0.003037721267806425, + -0.006032234366760789, + 0.03517586500114262 + ], + [ + -0.003049097259566711, + 0.9999935888538362, + -0.0018775668102696361, + -0.007585048942693064 + ], + [ + 0.006026492168593285, + 0.0018959168558878965, + 0.999980043246573, + 0.41569656578472414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999773405125035, + 0.0031179555553576235, + -0.005966306620989022, + 0.03732120816631457 + ], + [ + -0.0031336371034640484, + 0.9999916558009087, + -0.002620810382517767, + -0.007166975838254334 + ], + [ + 0.005958085266647026, + 0.0026394472360958474, + 0.9999787670437026, + 0.4368989801383777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999755459898036, + 0.003385132932605306, + -0.006119501403104656, + 0.03988535982939282 + ], + [ + -0.0034041296076789004, + 0.9999894116184797, + -0.003096538800176273, + -0.006849158508947922 + ], + [ + 0.006108954412019518, + 0.0031172946532954213, + 0.9999764812984535, + 0.4599739685944963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999691162944871, + 0.003819756572394349, + -0.006868472679585244, + 0.043268032591520136 + ], + [ + -0.0038348767200996575, + 0.9999902497188564, + -0.002189563372245355, + -0.00873342995931837 + ], + [ + 0.006860042110963781, + 0.002215835496396547, + 0.9999740146100242, + 0.4819832160126126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999636854616797, + 0.0036434963380676142, + -0.007704069854905384, + 0.04710041935078059 + ], + [ + -0.003664812394614827, + 0.9999894907414753, + -0.002754551999357937, + -0.008902307620199732 + ], + [ + 0.007693952690720909, + 0.002782685939767037, + 0.9999665293153334, + 0.5028129855361387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999543778146956, + 0.0029303843962158833, + -0.009091487035436847, + 0.05154475557937013 + ], + [ + -0.002961119062413059, + 0.9999899408185106, + -0.003368981402458297, + -0.007868083768689414 + ], + [ + 0.009081523171985843, + 0.0033957486777307804, + 0.9999529963092239, + 0.5259384288143145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999492790230674, + 0.0029861501972426293, + -0.009618850671867376, + 0.05577112622818119 + ], + [ + -0.0030026702467596525, + 0.9999940410413244, + -0.0017034826772234705, + -0.009958731807674927 + ], + [ + 0.009613706498401122, + 0.001732278511638334, + 0.9999522867909855, + 0.5479082195328773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999456561519281, + 0.003384972700980726, + -0.009860360171090349, + 0.05850987312921675 + ], + [ + -0.0034134179721112116, + 0.9999900574790965, + -0.0028694112115289164, + -0.009221725960530886 + ], + [ + 0.00985054925563432, + 0.002902912807301471, + 0.9999472684979921, + 0.569712728932561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999451682261901, + 0.003921654958964931, + -0.009709848787680626, + 0.06128579804759351 + ], + [ + -0.003955507742528127, + 0.9999861575032648, + -0.0034696916800666514, + -0.0090714844880633 + ], + [ + 0.009696107445547268, + 0.003507908812775707, + 0.9999468386250171, + 0.5927425420597849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999422479498654, + 0.004121740665226972, + -0.009925322103525099, + 0.0648924580734772 + ], + [ + -0.00414853696490253, + 0.9999878016210613, + -0.0026807182112354925, + -0.010194024665376781 + ], + [ + 0.009914151805421725, + 0.002721738959897998, + 0.9999471494689174, + 0.6147505657741229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999347241938108, + 0.0038837916853277036, + -0.01074539499472139, + 0.06898701257211665 + ], + [ + -0.003910978962295307, + 0.999989201316625, + -0.0025102776131361443, + -0.01019311222704501 + ], + [ + 0.010735529563281339, + 0.0025521387665070963, + 0.9999391156429038, + 0.6349135802314951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999229778667932, + 0.0033488602832924485, + -0.011950877323763372, + 0.07393067917718447 + ], + [ + -0.003388417789799931, + 0.9999888429321969, + -0.0032912970099816495, + -0.009327180263579295 + ], + [ + 0.011939721893177518, + 0.00333153807259248, + 0.9999231689960907, + 0.6576743309081599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999914007027228, + 0.002996618445015381, + -0.01276709946102501, + 0.07816198285608572 + ], + [ + -0.003034591574631911, + 0.9999910267299726, + -0.002955962366202586, + -0.011036768551363155 + ], + [ + 0.012758127007044744, + 0.0029944511066682285, + 0.9999141280419245, + 0.6778881637478604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998995088494029, + 0.003473943892664676, + -0.013744232119457933, + 0.08191698124908642 + ], + [ + -0.003525739231322199, + 0.9999867679341757, + -0.003746080542893996, + -0.012131470607275145 + ], + [ + 0.013731036581250406, + 0.003794162673337983, + 0.9998985263335539, + 0.7004823659319166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999882769705124, + 0.0035346857804858466, + -0.014898081864573655, + 0.08548654560847048 + ], + [ + -0.003597596925586737, + 0.999984716570902, + -0.004198085393844636, + -0.010827506646154646 + ], + [ + 0.014883015258048892, + 0.0042511905445691296, + 0.9998802044424036, + 0.7235754676160334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998607994725983, + 0.00351604168965082, + -0.016310092852390833, + 0.08928038124769483 + ], + [ + -0.003561156478486262, + 0.9999899111269199, + -0.0027378474959008194, + -0.012605211134402971 + ], + [ + 0.016300301915998624, + 0.0027955491789114478, + 0.9998632331785362, + 0.7431086376633009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998341719872557, + 0.0035386939811748413, + -0.01786354308267436, + 0.0937138975862595 + ], + [ + -0.003597200015312142, + 0.9999882679304724, + -0.0032440951687433064, + -0.012911799729630689 + ], + [ + 0.01785185364629691, + 0.0033078159443388454, + 0.9998351712532769, + 0.7656237568721311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998076806409927, + 0.003405105950161208, + -0.019313388743239367, + 0.09775326240855588 + ], + [ + -0.0034838902921662243, + 0.9999857417150599, + -0.004047082284067025, + -0.01253103981586535 + ], + [ + 0.019299332623473234, + 0.0041135896793477065, + 0.9998052881137601, + 0.785989707749401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9997761353223265, + 0.0032561909001521242, + -0.02090637368782521, + 0.10182002996395473 + ], + [ + -0.0033362045303799138, + 0.9999872394682106, + -0.003793499713899306, + -0.013500766010526659 + ], + [ + 0.020893754552131032, + 0.003862398421919737, + 0.9997742409660022, + 0.807921139578623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9997434723524564, + 0.0035038180893745617, + -0.022376611616811454, + 0.10516367002763999 + ], + [ + -0.0035817906332271028, + 0.9999876498270666, + -0.0034454272884110225, + -0.015171932273947192 + ], + [ + 0.022364263111329566, + 0.0035246917789464004, + 0.9997436752904969, + 0.8302026248950486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997102297812455, + 0.004039013114939842, + -0.02373063091842944, + 0.10806091596001356 + ], + [ + -0.004152109271387502, + 0.9999802477185469, + -0.0047184914275784275, + -0.014394909931028481 + ], + [ + 0.02371110413556976, + 0.004815656321937553, + 0.999707253647217, + 0.8514634001590825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996689802508575, + 0.004334764829478266, + -0.025360199882567734, + 0.11196925521868882 + ], + [ + -0.004442386220597636, + 0.9999813589313347, + -0.004188913284902436, + -0.015585458407029637 + ], + [ + 0.025341569187359227, + 0.004300186474387608, + 0.999669602052302, + 0.8739186350059301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996158823674911, + 0.004645672377432219, + -0.027322251862246485, + 0.11666829680162782 + ], + [ + -0.004728226379228441, + 0.9999844479268436, + -0.0029576645774868817, + -0.017141506143119854 + ], + [ + 0.027308086603957383, + 0.0030857142783666186, + 0.9996223020588443, + 0.89605568761227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995827035463044, + 0.0038002177213769276, + -0.028635242557578326, + 0.12105203895917682 + ], + [ + -0.003901487302722346, + 0.9999863287006777, + -0.0034814951625904266, + -0.01652282588868052 + ], + [ + 0.028621620636992386, + 0.0035917623822542847, + 0.9995838644531542, + 0.9167115769197991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995546923172449, + 0.0033274763063156467, + -0.029653751331139303, + 0.12572002059701182 + ], + [ + -0.003409003633355997, + 0.9999905465238096, + -0.0026991771414047704, + -0.018168683595263812 + ], + [ + 0.02964448955212256, + 0.0027990649231170745, + 0.9995565864295781, + 0.9384925673120458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995401147241397, + 0.003246466112238715, + -0.030149950498070826, + 0.1294641076158928 + ], + [ + -0.0033341981950834355, + 0.9999903516009189, + -0.0028600397667045705, + -0.01959696177306063 + ], + [ + 0.030140374577133876, + 0.00295925038706001, + 0.9995412951236669, + 0.9598450956737266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999541577901369, + 0.0034175656526819714, + -0.030082458201604576, + 0.13222302332476926 + ], + [ + -0.003526319662258881, + 0.9999874353730619, + -0.0035628872626053735, + -0.01934500641986987 + ], + [ + 0.03006990382560683, + 0.0036673343201946633, + 0.9995410704632917, + 0.9796406537963985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999558873294728, + 0.0038355229441493725, + -0.029450765380864007, + 0.13529926023279862 + ], + [ + -0.003936155220278679, + 0.9999866092817298, + -0.0033597528645894674, + -0.019213604801073376 + ], + [ + 0.029437484604763146, + 0.0034741935717728734, + 0.9995605856971204, + 1.0018047208468217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995845810393721, + 0.004131127526015483, + -0.028523659192100207, + 0.13843236678532855 + ], + [ + -0.004208600678387638, + 0.9999876149988165, + -0.002656601081986226, + -0.02120607967901719 + ], + [ + 0.02851233116869192, + 0.002775542170951915, + 0.9995895874492613, + 1.0213750844617013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996281709808212, + 0.003903571947764722, + -0.026986698715971178, + 0.14218185351343654 + ], + [ + -0.004034702499754534, + 0.9999803099518016, + -0.004806337944540241, + -0.020279894793783716 + ], + [ + 0.026967405460600963, + 0.004913434109385933, + 0.9996242380054499, + 1.0437525040573084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996813797505079, + 0.00340243366449562, + -0.02501124597615552, + 0.14605206381907754 + ], + [ + -0.003511290107657078, + 0.9999845486684712, + -0.004309671228080129, + -0.02079401397615683 + ], + [ + 0.02499619614863266, + 0.004396119820134461, + 0.9996778802737541, + 1.0651216328426907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997465019738242, + 0.0032261954594106582, + -0.022282806240692052, + 0.14893740103321249 + ], + [ + -0.0033055447517031915, + 0.9999883234705866, + -0.0035250952299388885, + -0.022498822343364904 + ], + [ + 0.02227117340862475, + 0.003597858438478156, + 0.9997454927378567, + 1.084400795202383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9998248396792544, + 0.003284525444940291, + -0.018425576054904007, + 0.15136107572654267 + ], + [ + -0.0033667644037526914, + 0.9999845018774893, + -0.004434061600779897, + -0.02205548946079347 + ], + [ + 0.018410726704916783, + 0.004495319502707987, + 0.9998204024947509, + 1.1072820487901882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999891654465969, + 0.003288063261685255, + -0.01434809984962236, + 0.15342532363545067 + ], + [ + -0.0033501841673368865, + 0.9999851100093171, + -0.004307670565303289, + -0.02232899768424783 + ], + [ + 0.014333722313220063, + 0.004355272625383035, + 0.9998877817060304, + 1.1280095237370957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999951771048298, + 0.0029133137451285186, + -0.009379135375659807, + 0.15634229773202366 + ], + [ + -0.0029478452140661096, + 0.9999889205347802, + -0.003670015841841794, + -0.023787875704016692 + ], + [ + 0.00936833955225874, + 0.0036974870801542285, + 0.9999492801154096, + 1.1503140212439498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999988973748461, + 0.0021584316184353894, + -0.00417055804997574, + 0.16013800849457283 + ], + [ + -0.0021776539758157805, + 0.999987002636368, + -0.00461003053071518, + -0.024255702128527776 + ], + [ + 0.004160553408056768, + 0.004619061731677847, + 0.9999806768453366, + 1.1729096155001224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.999998774263344, + 0.0014091856730671071, + 0.0006823983796890575, + 0.16384920388085844 + ], + [ + -0.001405439964002483, + 0.9999841132494595, + -0.0054587532642588876, + -0.023838986059392785 + ], + [ + -0.000690079935489032, + 0.0054577875033107286, + 0.999984868058138, + 1.1939871737244427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999760229509362, + -2.8305212720436806e-05, + 0.006924790397114414, + 0.16767974298736 + ], + [ + 5.6705716264105454e-05, + 0.9999915887727601, + -0.004101117919950037, + -0.026099254542306435 + ], + [ + -0.006924616068113678, + 0.0041014122624438995, + 0.9999676135304398, + 1.2160945717951601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9998942874161059, + 0.00041866792575889127, + 0.014534053454071612, + 0.16927649740975126 + ], + [ + -0.0003382772743185761, + 0.9999846344564545, + -0.005533210593929847, + -0.026216462571478007 + ], + [ + -0.014536146708242517, + 0.005527709123953489, + 0.9998790651227365, + 1.239983796134136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997608698277913, + 0.0007725824302132967, + 0.02185420503168331, + 0.17005023952475978 + ], + [ + -0.000659586761437537, + 0.9999863808496887, + -0.005177167222112813, + -0.02623123777538317 + ], + [ + -0.021857907184414126, + 0.005161514460902795, + 0.9997477635193728, + 1.260935262632105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995854952525324, + 0.00020666413563586022, + 0.028788799396383128, + 0.1715652347476096 + ], + [ + -7.998820464140207e-05, + 0.999990311195007, + -0.0044012632278243955, + -0.027899308297116353 + ], + [ + -0.02878943005058047, + 0.0043971361189441074, + 0.999575826994288, + 1.284061195885058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9993944937064376, + -5.4944776735255915e-05, + 0.03479429450821983, + 0.17379312884232492 + ], + [ + 0.00024584901303501526, + 0.9999849413171155, + -0.005482398860709912, + -0.027742391768293205 + ], + [ + -0.03479346932279126, + 0.005487633376660027, + 0.9993794576497995, + 1.3077127132278825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992083696551882, + -0.00040026275600759417, + 0.039780319264014145, + 0.17601983341495284 + ], + [ + 0.000643463175589661, + 0.9999811818780735, + -0.006100970813962143, + -0.02742925914364347 + ], + [ + -0.03977712868172364, + 0.006121738270892593, + 0.9991898239846021, + 1.3287636771958473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9989760870404282, + -0.001171375269170505, + 0.04522615837514653, + 0.17803307427036774 + ], + [ + 0.001404738038697772, + 0.9999858626528945, + -0.005128470082722572, + -0.029050112249501204 + ], + [ + -0.04521951163422375, + 0.005186749880755835, + 0.9989636096441337, + 1.3511780751991131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9987216102822707, + -0.000943949038456435, + 0.050539629157733336, + 0.17891436613894057 + ], + [ + 0.001217188885881643, + 0.9999848087307935, + -0.0053759426014970855, + -0.030402009127424898 + ], + [ + -0.050533786780771715, + 0.005430586326659601, + 0.9987075873977049, + 1.3717226965180116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9983733521973663, + 0.0005359724732987098, + 0.057011949236115904, + 0.17956153553908924 + ], + [ + -0.00011444553751195063, + 0.9999726377315906, + -0.00739666751613296, + -0.029060787380366913 + ], + [ + -0.057014353670041144, + 0.007378110979996098, + 0.9983460957773884, + 1.3952494437412752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980255105813166, + -0.0007085578551893174, + 0.06280587691186529, + 0.18148553422898686 + ], + [ + 0.001054445976455762, + 0.9999844600643062, + -0.005474282928480381, + -0.0313975093420201 + ], + [ + -0.06280102206640636, + 0.005529699418970709, + 0.9980107484650407, + 1.4174139211025778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9976685936023307, + -0.0006154600195653414, + 0.0682422050384639, + 0.18383898225572645 + ], + [ + 0.00104316833169897, + 0.9999800365030129, + -0.006232045833011951, + -0.03184697459458847 + ], + [ + -0.0682370071103589, + 0.006288704508667732, + 0.9976493186767701, + 1.4381660995708376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9972365559088296, + -0.0010411342966078342, + 0.07428436981271817, + 0.18732623173838026 + ], + [ + 0.001539815576860005, + 0.9999766618233855, + -0.006656183331937539, + -0.03158366791113293 + ], + [ + -0.07427570617022437, + 0.006752173571193999, + 0.9972148853807686, + 1.461480638587344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.996777192087721, + -0.0020850154107346693, + 0.08019278050083926, + 0.1906910711293891 + ], + [ + 0.002586652142814322, + 0.9999777307467123, + -0.006152011162882731, + -0.032756141618253486 + ], + [ + -0.0801781676294168, + 0.006339615240151297, + 0.9967603878135388, + 1.4820745053020759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9961332519464249, + -0.0026799660231044205, + 0.08781436185929681, + 0.19426781159290346 + ], + [ + 0.0032417650918616513, + 0.9999751789786736, + -0.00625558835435281, + -0.03416420361448786 + ], + [ + -0.08779541745290412, + 0.006516073103099224, + 0.9961172147220354, + 1.5047051285843076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9953331662043559, + -0.002141984388487127, + 0.0964743497334492, + 0.1978409791493282 + ], + [ + 0.002874427408274797, + 0.9999680890361118, + -0.00745376257615505, + -0.03414296492295085 + ], + [ + -0.09645530530088509, + 0.007696285620129256, + 0.9953075611422666, + 1.5277306636283219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9945211788106633, + -0.0023516307796712724, + 0.1045088260852888, + 0.2014245713313367 + ], + [ + 0.003096605359749009, + 0.9999709379383472, + -0.0069666573009082985, + -0.0354167361294658 + ], + [ + -0.1044894058376016, + 0.007252110822266016, + 0.994499558047326, + 1.547962940387084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9934951984564762, + -0.004090525596639727, + 0.11380051952548555, + 0.20660322560506306 + ], + [ + 0.004749376076710769, + 0.9999734916768936, + -0.005519000851925061, + -0.037891302063881784 + ], + [ + -0.1137749272502916, + 0.006023582311616347, + 0.9934882900091606, + 1.5699816017869148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9923368524020062, + -0.003667375914167917, + 0.12350757757637164, + 0.2127421212341424 + ], + [ + 0.004574391038396753, + 0.9999646077760151, + -0.007061029810751413, + -0.0367654164862106 + ], + [ + -0.12347731091786503, + 0.007571892053157235, + 0.9923185074053736, + 1.5927345134818198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.991202903335301, + -0.005576922346406948, + 0.13223351449920762, + 0.21840897307464038 + ], + [ + 0.006487897798914783, + 0.999958091504588, + -0.0064592891755121526, + -0.038283719898542345 + ], + [ + -0.1321919498374271, + 0.0072603837119121035, + 0.9911975460151903, + 1.6115350264150197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9898074268959061, + -0.006808969664537861, + 0.14224941333381041, + 0.22455546826983844 + ], + [ + 0.007762449572155202, + 0.9999509657644802, + -0.006149019704256201, + -0.03972562666187532 + ], + [ + -0.14220056975394152, + 0.00719054926907442, + 0.9898117467290756, + 1.632619085528113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9881758530360603, + -0.006630713049916075, + 0.15318132105744686, + 0.23013605203949197 + ], + [ + 0.007781553027998453, + 0.9999458163355817, + -0.006914609565256085, + -0.04001863136102218 + ], + [ + -0.15312717234027207, + 0.008024838778265611, + 0.9881739072924642, + 1.6541597670807409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9865931515105795, + -0.007052309698335516, + 0.1630466752814713, + 0.2353232723141329 + ], + [ + 0.008296399651563013, + 0.999941427645838, + -0.006950613672534098, + -0.041100391900101556 + ], + [ + -0.16298810737364958, + 0.008210128228111645, + 0.9865938732068195, + 1.673564615631423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9848235916986053, + -0.008515789107005886, + 0.1733492848838552, + 0.24186416169100172 + ], + [ + 0.009739308273017045, + 0.999933296527831, + -0.006208733312684313, + -0.04316188031876504 + ], + [ + -0.173284849621143, + 0.0078028091652874625, + 0.9848408384408661, + 1.6950418836710182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9831788881811493, + -0.008679277951602647, + 0.18243887735106878, + 0.24816573880247583 + ], + [ + 0.010153347088339638, + 0.9999229097632262, + -0.007147312330318407, + -0.04293876805846335 + ], + [ + -0.18236277958449526, + 0.008879451834558294, + 0.983191218409387, + 1.7151967047984906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813793056671936, + -0.009337977255549704, + 0.1918527054512192, + 0.2552056567468155 + ], + [ + 0.010957976825541928, + 0.9999126908539939, + -0.007384674198392623, + -0.04312071341876778 + ], + [ + -0.19176699703564307, + 0.009349483937648971, + 0.9813959476164713, + 1.7368040972552672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_199/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_199/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..16a4114497dd1a9992f08aa845a5decfcdac9935 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_199/tilt_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999995215758, + 1.6856370052417727e-05, + 2.593667788018041e-05, + -0.00010134775118467604 + ], + [ + -1.6856495782291647e-05, + 0.9999999998461808, + 4.8473595105874235e-06, + -8.68453831984716e-05 + ], + [ + -2.5936596167305162e-05, + -4.847796709769624e-06, + 0.999999999651896, + -5.909470106208388e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999145661183, + 0.0001922924227781849, + 0.00036591171099501104, + 0.003681878904111212 + ], + [ + -0.00019336795781233217, + 0.9999956548848978, + 0.0029415676359614983, + -0.0005593833561478966 + ], + [ + -0.00036534447989902463, + -0.0029416381402522515, + 0.9999956066345804, + 0.020939528720288068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999996253554834, + 0.0003478341171708734, + 0.0007926539725372479, + 0.0057489847090594565 + ], + [ + -0.0003522029990298279, + 0.9999847122853261, + 0.005518255945615345, + 0.00023656330128779546 + ], + [ + -0.0007907224169843145, + -0.005518533053337334, + 0.9999844601547561, + 0.04058721054450312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999987260480955, + 0.0008768133832182647, + 0.00133382925342085, + 0.007819917970483007 + ], + [ + -0.0008889313436745899, + 0.9999580916519354, + 0.00911179131049077, + -0.0011892558733516204 + ], + [ + -0.0013257840142741088, + -0.009112965385137351, + 0.999957597180319, + 0.06169967219930068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999983650406569, + 0.0009472882786763603, + 0.0015403119588128838, + 0.00999942214159563 + ], + [ + -0.000965526011852947, + 0.999928928876801, + 0.011882969107685099, + -0.001978834036101368 + ], + [ + -0.0015289458897603104, + -0.011884436890776331, + 0.9999282086651299, + 0.08082988649716177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999987859689907, + 0.000643503905084299, + 0.0014191417367577543, + 0.012653476054681529 + ], + [ + -0.0006637051425239939, + 0.9998978067786432, + 0.014280598542882814, + -0.0017465919050976143 + ], + [ + -0.001409807089162827, + -0.014281523097462006, + 0.9998970199685505, + 0.10229329156076061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999992620581808, + 0.0007506549298898141, + 0.0009551964563703762, + 0.014930301296657678 + ], + [ + -0.0007678269453630836, + 0.9998357793534135, + 0.018105931805195326, + -0.002531456830820631 + ], + [ + -0.0009414482864208754, + -0.018106651869648386, + 0.9998356179058613, + 0.12330550702189122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999990697227856, + 0.0013597160189319898, + 0.00010828624757577908, + 0.016300402253713212 + ], + [ + -0.0013617808771747726, + 0.9997537576608728, + 0.022148805742241272, + -0.0043857544552446635 + ], + [ + -7.81434969489424e-05, + -0.022148932599853174, + 0.999754679248005, + 0.14205197189079086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999984871738926, + 0.0016563074901773222, + -0.0005313148075176224, + 0.017094154425802713 + ], + [ + -0.001643170365745615, + 0.9997144329063855, + 0.023840147436910587, + -0.002689275164605714 + ], + [ + 0.0005706496962589317, + -0.02383923833016654, + 0.9997156421076757, + 0.16454938307258973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999967536103008, + 0.00217774659782247, + -0.0013229469434251299, + 0.01840966285497603 + ], + [ + -0.0021392381341245508, + 0.9995931112734264, + 0.028443550321943095, + -0.0035490460519918277 + ], + [ + 0.001384351496171599, + -0.028440627884543518, + 0.9995945249232151, + 0.18570090053162758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999939897310455, + 0.002377103658187551, + -0.0025238621167420166, + 0.020160531421403997 + ], + [ + -0.0022955368384731285, + 0.9994902281402809, + 0.03184359217665308, + -0.004087266186252523 + ], + [ + 0.002598271042310044, + -0.03183760716963541, + 0.9994896776642084, + 0.20453576843048157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999890758249086, + 0.002411831283285725, + -0.0040039106766111285, + 0.021977938674202994 + ], + [ + -0.0022741291293530367, + 0.9994176345793948, + 0.03404732042952063, + -0.0033999166792317154 + ], + [ + 0.0040836953300098485, + -0.03403784308072985, + 0.9994122015819416, + 0.22655243622159144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999838570946846, + 0.0025931143358718933, + -0.0050558192292787605, + 0.023631991815973495 + ], + [ + -0.0024011286542898773, + 0.9992893682046665, + 0.03761639502005239, + -0.004106838327010231 + ], + [ + 0.005149770016573293, + -0.03760364810972693, + 0.9992794631721482, + 0.24792710365741744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999807768075124, + 0.002941229204679003, + -0.005458496698671553, + 0.024741036903303405 + ], + [ + -0.002713217094223856, + 0.9991423066204727, + 0.04131936076611998, + -0.0050010000637877505 + ], + [ + 0.005575344692794912, + -0.041303756389542916, + 0.9991310801089462, + 0.2672225015197794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999792718060511, + 0.00340685243361917, + -0.005463452638722749, + 0.02544029598702538 + ], + [ + -0.0031634854718491736, + 0.9990286856605128, + 0.0439508542248947, + -0.004614812126975874 + ], + [ + 0.0056078799835073715, + -0.04393265965001537, + 0.9990187551283342, + 0.28951289389345003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999785855544328, + 0.0038181355054223306, + -0.00531509866496147, + 0.026021933303701287 + ], + [ + -0.003563593335713599, + 0.99888368845695, + 0.04710284213480823, + -0.004300703672324914 + ], + [ + 0.005489010392930538, + -0.04708289260337816, + 0.9988759041988176, + 0.3091194974303153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999978001672886, + 0.004124106250794069, + -0.0051949896952899815, + 0.02751505961069535 + ], + [ + -0.0038531159637087272, + 0.9986842864847352, + 0.051135598420726784, + -0.006650988874771968 + ], + [ + 0.005399043218221241, + -0.05111445662537933, + 0.9986782077607482, + 0.3299182191014871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999803238492876, + 0.003463021205829905, + -0.005230621225262274, + 0.029950015246198565 + ], + [ + -0.0031837984227555574, + 0.9986169706988497, + 0.05247865527866047, + -0.005297251204597059 + ], + [ + 0.005405121818927954, + -0.05246096945712299, + 0.9986083473222831, + 0.35182810575607404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999787472161429, + 0.0032857036924774726, + -0.0056310982302770025, + 0.032624040342056 + ], + [ + -0.0029630414220727275, + 0.9984049550702487, + 0.05638054697061799, + -0.006000000513919652 + ], + [ + 0.005807366146961126, + -0.0563626635497314, + 0.998393471861678, + 0.37072821078886836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999771919389182, + 0.00340667795998677, + -0.00583182194801537, + 0.03531913056735319 + ], + [ + -0.003049097259566711, + 0.9981778791360453, + 0.06026296216888672, + -0.00754045673094916 + ], + [ + 0.006026492168593285, + -0.06024380589524462, + 0.9981654999264392, + 0.391947039757618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999773405125035, + 0.0035014948961341837, + -0.005749608250410559, + 0.03747036583183929 + ], + [ + -0.0031336371034640484, + 0.9980220061052185, + 0.06278738446709983, + -0.0071014555786913895 + ], + [ + 0.005958085266647026, + -0.0627679445514027, + 0.998010363852374, + 0.4118995109622851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999755459898036, + 0.0037973579996172647, + -0.005872605436835649, + 0.04004599674122432 + ], + [ + -0.0034041296076789004, + 0.9978416197868245, + 0.0655783022258166, + -0.006767874365443295 + ], + [ + 0.006108954412019518, + -0.06555670746330357, + 0.9978301452564774, + 0.4337245859604119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999691162944871, + 0.004303928922881364, + -0.006575914616944475, + 0.04345691559020873 + ], + [ + -0.0038348767200996575, + 0.9975572674170166, + 0.06974806050376559, + -0.008673216966581623 + ], + [ + 0.006860042110963781, + -0.069720688603327, + 0.9975429641889687, + 0.454483930610837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999636854616799, + 0.004212498067766197, + -0.007408280362124537, + 0.04732191135910912 + ], + [ + -0.0036648123946148277, + 0.9973654045245379, + 0.07244873365157845, + -0.008823114250218192 + ], + [ + 0.007693952690720911, + -0.07241895275157012, + 0.9973446236754671, + 0.47406394781832295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999543778146959, + 0.003634660850710502, + -0.008833545705174918, + 0.05181750019043324 + ], + [ + -0.00296111906241306, + 0.9971716327950989, + 0.07509971053642632, + -0.007767014326615665 + ], + [ + 0.009081523171985845, + -0.07507012714293963, + 0.9971369023096178, + 0.49593983892503785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999492790230674, + 0.003762225048282367, + -0.009342646516606117, + 0.056071715311677046 + ], + [ + -0.0030026702467596525, + 0.9967885107159462, + 0.08002280222583734, + -0.009905497974011693 + ], + [ + 0.009613706498401122, + -0.07999069050441013, + 0.9967492493501015, + 0.516659710570659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999456561519281, + 0.004210682342807147, + -0.00953702768675764, + 0.05883033483477719 + ], + [ + -0.0034134179721112116, + 0.9966164137673073, + 0.08212230140064983, + -0.009128470096156195 + ], + [ + 0.00985054925563432, + -0.08208528469707269, + 0.9965766266151154, + 0.5372144427063762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999451682261901, + 0.004763176787790928, + -0.00932591486048671, + 0.06161350544417773 + ], + [ + -0.003955507742528127, + 0.9963914185728955, + 0.08478499249744786, + -0.00895438239386105 + ], + [ + 0.009696107445547268, + -0.08474345485747994, + 0.9963556254466691, + 0.5589943362561907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999422479498654, + 0.005012632702846075, + -0.009506538715876962, + 0.06523984434710058 + ], + [ + -0.00414853696490253, + 0.9960380704243146, + 0.088831030087797, + -0.01010019952798354 + ], + [ + 0.009914151805421725, + -0.08878646168642275, + 0.9960013422757945, + 0.5797524155427108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999347241938108, + 0.004884547649303668, + -0.010329014750172744, + 0.0693765331406753 + ], + [ + -0.003910978962295307, + 0.9957272811585849, + 0.09225988185603161, + -0.010102114663568825 + ], + [ + 0.010735529563281339, + -0.09221346295847536, + 0.9956813876206595, + 0.5986657872894399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999229778667932, + 0.004504125425396449, + -0.01156508487461084, + 0.0743788370768256 + ], + [ + -0.003388417789799931, + 0.9954962268496185, + 0.09474059823040448, + -0.009203756625704983 + ], + [ + 0.011939721893177518, + -0.0946941137680978, + 0.995434813465346, + 0.6201772120708064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999914007027228, + 0.004274178601656838, + -0.012397981611288602, + 0.07865670796020044 + ], + [ + -0.003034591574631911, + 0.9951490711472025, + 0.09833167062973898, + -0.010922225009672805 + ], + [ + 0.012758127007044744, + -0.09828559198652383, + 0.9950764657065964, + 0.6391414912862359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998995088494029, + 0.004891576726776772, + -0.013305813761246517, + 0.08246675053386474 + ], + [ + -0.003525739231322199, + 0.9949003078315158, + 0.10080152101842586, + -0.011981627385559385 + ], + [ + 0.013731036581250406, + -0.10074447852801409, + 0.994817575578821, + 0.6604864248785745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999882769705124, + 0.005119846433932483, + -0.014430315980714217, + 0.08610109148538414 + ], + [ + -0.003597596925586737, + 0.9946117877057264, + 0.10360718630085548, + -0.010654335623658555 + ], + [ + 0.014883015258048892, + -0.10354312593944667, + 0.9945136082163566, + 0.6823304091827843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998607994725985, + 0.005305296304865643, + -0.015818834000473996, + 0.08997356019392144 + ], + [ + -0.003561156478486263, + 0.9941104333097095, + 0.10831327042111621, + -0.012488852615827186 + ], + [ + 0.016300301915998627, + -0.10824185981356609, + 0.9939909456034034, + 0.7006144502532131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998341719872557, + 0.005557077798700977, + -0.017342070605846083, + 0.0944954275961265 + ], + [ + -0.003597200015312142, + 0.9938068816119282, + 0.11106278500391153, + -0.01276987056599817 + ], + [ + 0.01785185364629691, + -0.11098198478633559, + 0.9936620705120413, + 0.7218809681298003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998076806409927, + 0.005651548760666482, + -0.018779289866369217, + 0.09862236490200164 + ], + [ + -0.0034838902921662243, + 0.9935299810208691, + 0.11351669181712552, + -0.012348921113082334 + ], + [ + 0.019299332623473234, + -0.11342943537405936, + 0.9933585953476274, + 0.7409984697842819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9997761353223265, + 0.00575755989258163, + -0.02036000353724329, + 0.10278694974701665 + ], + [ + -0.0033362045303799138, + 0.9931240366428608, + 0.11701930431138935, + -0.013325316648758816 + ], + [ + 0.020893754552131032, + -0.1169251826865086, + 0.9929209196479054, + 0.7616815809339453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9997434723524566, + 0.006252232045335476, + -0.02176922330043794, + 0.10622655907943854 + ], + [ + -0.0035817906332271036, + 0.9926930089858853, + 0.12061409820750284, + -0.015008274477747668 + ], + [ + 0.02236426311132957, + -0.12050518455651894, + 0.9924607499697339, + 0.78271480031875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997102297812455, + 0.00702662111463, + -0.02302353288356961, + 0.10921778421728699 + ], + [ + -0.004152109271387502, + 0.9924476804807607, + 0.12259837477289948, + -0.014164883473934032 + ], + [ + 0.02371110413556976, + -0.12246725319067661, + 0.992189273997962, + 0.8027276715437807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996689802508577, + 0.007607850640061116, + -0.024577439509623294, + 0.11323726521281721 + ], + [ + -0.004442386220597637, + 0.9919731426826901, + 0.1263706825212828, + -0.015376012742784516 + ], + [ + 0.025341569187359234, + -0.12621966885104055, + 0.991678576992695, + 0.823935154903315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996158823674911, + 0.008258816140237171, + -0.02645523907705667, + 0.11806856220956796 + ], + [ + -0.004728226379228441, + 0.9913926418255374, + 0.13083682054180584, + -0.016989925833523652 + ], + [ + 0.027308086603957383, + -0.13066147745278137, + 0.991050879983408, + 0.8448250446317541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995827035463044, + 0.007687760799251292, + -0.02784451660479505, + 0.12255538919344969 + ], + [ + -0.003901487302722346, + 0.9910328058784056, + 0.13356180617826938, + -0.01634004739264452 + ], + [ + 0.028621620636992386, + -0.13339743628221792, + 0.9906492451041609, + 0.8642334240360086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995546923172449, + 0.007453620906724548, + -0.028893954418822233, + 0.12731390973106055 + ], + [ + -0.003409003633355997, + 0.9904848735884977, + 0.13757940938456564, + -0.018023602823913305 + ], + [ + 0.02964448955212256, + -0.13741964462098202, + 0.9900692124853886, + 0.884766400791456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995401147241397, + 0.007539165140112552, + -0.029372096388309555, + 0.1311223548932867 + ], + [ + -0.0033341981950834355, + 0.9900522328732624, + 0.14066079519561858, + -0.019439659585891878 + ], + [ + 0.030140374577133876, + -0.14049817497625355, + 0.9896220594998337, + 0.9048703244419248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999541577901369, + 0.007794589029600489, + -0.02925539998532424, + 0.13391516159860953 + ], + [ + -0.003526319662258881, + 0.9896868654694303, + 0.1432043064538678, + -0.019144594011348316 + ], + [ + 0.03006990382560683, + -0.14303549454297473, + 0.9892606573521285, + 0.9234164685828383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999558873294728, + 0.008208782900672059, + -0.028542506916236846, + 0.1369926792421983 + ], + [ + -0.003936155220278679, + 0.9891816517775628, + 0.1466429898382283, + -0.019020419011359483 + ], + [ + 0.029437484604763146, + -0.14646595396167156, + 0.9887776083782652, + 0.9443299871692372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995845810393721, + 0.008452224884556155, + -0.02755404222331408, + 0.14010813176286444 + ], + [ + -0.004208600678387638, + 0.9885897378871795, + 0.1505742933720353, + -0.021050004365450497 + ], + [ + 0.02851233116869192, + -0.15039577799479203, + 0.9882146310051619, + 0.9626491961990573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996281709808212, + 0.008077162276316305, + -0.026043794483523883, + 0.14380105543639482 + ], + [ + -0.004034702499754534, + 0.9884207698692633, + 0.15168422088929195, + -0.0199915145171113 + ], + [ + 0.026967405460600963, + -0.15152274133150803, + 0.988085835290694, + 0.9837750497769814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996813797505081, + 0.007352225461089137, + -0.02414712738381859, + 0.14758400263511706 + ], + [ + -0.003511290107657079, + 0.987843976345046, + 0.15540897413144797, + -0.020530046613436922 + ], + [ + 0.024996196148632667, + -0.15527467011582574, + 0.9875550450473741, + 1.0038913626759232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997465019738242, + 0.006812872509167466, + -0.02145964956089397, + 0.15033007642325574 + ], + [ + -0.0033055447517031915, + 0.9872060335712334, + 0.1594155596372189, + -0.022278503891493724 + ], + [ + 0.02227117340862475, + -0.15930421227552974, + 0.9869782990452609, + 1.021916701906267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9998248396792544, + 0.006299805822812992, + -0.0176239157666043, + 0.1525357062000428 + ], + [ + -0.0033667644037526914, + 0.9868262942838139, + 0.1617483533379104, + -0.021772818033743754 + ], + [ + 0.018410726704916783, + -0.16166068587220186, + 0.9866746514355815, + 1.0435434981311478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999891654465969, + 0.0056704142608299795, + -0.013584024860775005, + 0.15435795012567613 + ], + [ + -0.0033501841673368865, + 0.9862708860105199, + 0.16510153141042933, + -0.022048999097503113 + ], + [ + 0.014333722313220063, + -0.16503813441182202, + 0.9861830248967546, + 1.0630168179262038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999951771048298, + 0.004488197280382088, + -0.00873565467179643, + 0.15696366545066112 + ], + [ + -0.0029478452140661096, + 0.9856190232380487, + 0.16895695084804527, + -0.023544737154494674 + ], + [ + 0.00936833955225874, + -0.16892305087360707, + 0.9855847183766531, + 1.0840673814363038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999988973748461, + 0.002857986021029072, + -0.003726163899143659, + 0.1604195211629462 + ], + [ + -0.0021776539758157805, + 0.9852241993575008, + 0.1712557585120375, + -0.0239445250677045 + ], + [ + 0.004160553408056768, + -0.17124575590733715, + 0.9852195597322779, + 1.1054109198130622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999987742633443, + 0.001264260879984539, + 0.0009236429164566612, + 0.16380228899225482 + ], + [ + -0.0014054399640024832, + 0.9848075846868624, + 0.17364344468403253, + -0.023463696772474986 + ], + [ + -0.0006900799354890321, + -0.17364452996756455, + 0.9848081544148722, + 1.1252382140454458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999760229509362, + -0.0012897740562581327, + 0.006803675926500218, + 0.167195007659562 + ], + [ + 5.6705716264105454e-05, + 0.9839940065627397, + 0.17820154834644197, + -0.02581217628790993 + ], + [ + -0.006924616068113678, + -0.17819688979185735, + 0.9839704864277273, + 1.1460968388480293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9998942874161059, + -0.0022839673316935177, + 0.01435957819246885, + 0.16824094610114865 + ], + [ + -0.0003382772743185761, + 0.9836643266175451, + 0.18001216100179798, + -0.025822221316660506 + ], + [ + -0.014536146708242517, + -0.17999798897009747, + 0.9835595683056503, + 1.168742412744141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997608698277913, + -0.0033644588079804047, + 0.021607488935730813, + 0.16846580965996275 + ], + [ + -0.000659586761437537, + 0.9830045135300451, + 0.18358020406586306, + -0.02585589315177999 + ], + [ + -0.021857907184414126, + -0.18355055651370059, + 0.9827672283389535, + 1.1884535497769506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9995854952525324, + -0.005321161353059597, + 0.028293513790352248, + 0.16944206079212634 + ], + [ + -7.998820464140207e-05, + 0.9822534633055312, + 0.18755833072987524, + -0.027574715134064304 + ], + [ + -0.02878943005058047, + -0.18748285005873164, + 0.9818458889516312, + 1.2103424786442294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9993944937064376, + -0.006841919148189591, + 0.03411501270149059, + 0.17118355675420843 + ], + [ + 0.00024584901303501526, + 0.9818400740278719, + 0.18971032810895147, + -0.027331211853739962 + ], + [ + -0.03479346932279126, + -0.18958707016912538, + 0.9812472457628462, + 1.2327592539041476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992083696551882, + -0.00828070709188284, + 0.03891097404433848, + 0.17298658407107176 + ], + [ + 0.000643463175589661, + 0.981332969525193, + 0.19231533708471668, + -0.026964060119078856 + ], + [ + -0.03977712868172364, + -0.19213805664918385, + 0.980561444898234, + 1.2525754531170215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9989760870404282, + -0.010260658960668414, + 0.044062414812262786, + 0.17452804699629387 + ], + [ + 0.001404738038697772, + 0.9805069862224717, + 0.19647920164732002, + -0.028652655818090206 + ], + [ + -0.04521951163422375, + -0.19621612789630333, + 0.9795174459502719, + 1.273758395451693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9987216102822707, + -0.011269906200914207, + 0.04927610343169403, + 0.17493437034276907 + ], + [ + 0.001217188885881643, + 0.9799083888632921, + 0.19944439798240363, + -0.029978653647557002 + ], + [ + -0.050533786780771715, + -0.19912945198932758, + 0.9786694016592252, + 1.2930744740104423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9983733521973666, + -0.011329190573680623, + 0.05587753630161962, + 0.17500057960019996 + ], + [ + -0.00011444553751195066, + 0.9796586900463066, + 0.2006709692979386, + -0.028469053979076276 + ], + [ + -0.05701435367004116, + -0.2003509432413546, + 0.9780638338155069, + 1.3153817560790841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980255105813166, + -0.013951634532625103, + 0.061240771735589575, + 0.1763825567298978 + ], + [ + 0.001054445976455762, + 0.9786024696144218, + 0.205757368296345, + -0.030952723854081064 + ], + [ + -0.06280102206640636, + -0.205286527464476, + 0.9766849406379684, + 1.3363255477897933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9976685936023307, + -0.015226089513513237, + 0.06652475883213642, + 0.1782090003400532 + ], + [ + 0.00104316833169897, + 0.9780819661224789, + 0.2082176249644052, + -0.031332830813364985 + ], + [ + -0.0682370071103589, + -0.2076627885397681, + 0.9758175429436121, + 1.3558600307800042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9972365559088299, + -0.017173390486609666, + 0.07227950067820525, + 0.18110491576656512 + ], + [ + 0.0015398155768600054, + 0.9774842974279134, + 0.21100255270931842, + -0.03102621255708316 + ], + [ + -0.07427570617022439, + -0.21030816185077997, + 0.9748095180761529, + 1.3779638919367045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.996777192087721, + -0.019731944732779436, + 0.07775525506858894, + 0.18387468478681776 + ], + [ + 0.002586652142814322, + 0.976678333447207, + 0.21469220341102033, + -0.03223322066940845 + ], + [ + -0.0801781676294168, + -0.2137991658820244, + 0.9735817264635467, + 1.397349872337925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9961332519464249, + -0.022272520783981762, + 0.0849851703802941, + 0.1866938228825391 + ], + [ + 0.0032417650918616513, + 0.9759912290924698, + 0.21778570130671943, + -0.033624659118924934 + ], + [ + -0.08779541745290412, + -0.21666807691143042, + 0.9722895191874554, + 1.418790018814532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9953331662043559, + -0.02399306410206187, + 0.09346775448574092, + 0.18939947354765138 + ], + [ + 0.002874427408274797, + 0.9755384744755551, + 0.21980996903002728, + -0.033490760697537286 + ], + [ + -0.09645530530088509, + -0.21851548616265473, + 0.9710547648749848, + 1.4406412520283736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9945211788106633, + -0.026352855472608173, + 0.1011590426283724, + 0.1921494130162673 + ], + [ + 0.003096605359749009, + 0.9747045361921669, + 0.22347590062836561, + -0.03479844529401019 + ], + [ + -0.1044894058376016, + -0.2219382664951067, + 0.9694459087194357, + 1.4597011046103838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9934951984564762, + -0.030543707736407272, + 0.10970128787594116, + 0.19636117884776935 + ], + [ + 0.004749376076710769, + 0.9736325296636464, + 0.22807266519171157, + -0.03739459198720853 + ], + [ + -0.1137749272502916, + -0.22606808509491455, + 0.9674443068366826, + 1.4805676556860903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9923368524020062, + -0.03278835169359905, + 0.11913225993867545, + 0.2014720547802985 + ], + [ + 0.004574391038396753, + 0.9732372043522716, + 0.2297573045872595, + -0.036121097515979535 + ], + [ + -0.12347731091786503, + -0.22745168290824266, + 0.9659291307496122, + 1.5021854496810794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9912029033353013, + -0.037124381645575785, + 0.12703772946295774, + 0.20617737298346367 + ], + [ + 0.0064878977989147844, + 0.9723294891535547, + 0.23352359988776009, + -0.03768623564980747 + ], + [ + -0.13219194983742713, + -0.23064506240069713, + 0.9640166718414979, + 1.5198492534086145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9898074268959063, + -0.0411687014196383, + 0.13633193200833954, + 0.21121958576979372 + ], + [ + 0.007762449572155204, + 0.9714777783675824, + 0.2370035242662583, + -0.0391491560646013 + ], + [ + -0.14220056975394155, + -0.2335295787719573, + 0.9618954900612889, + 1.5398242342722623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9881758530360605, + -0.04413277865019658, + 0.14683589930622448, + 0.21558382653903452 + ], + [ + 0.007781553027998454, + 0.9708804471388967, + 0.2394381022223679, + -0.03936174345232286 + ], + [ + -0.1531271723402721, + -0.23546433957605853, + 0.9597440356048501, + 1.5602832458879567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9865931515105797, + -0.04748101084897242, + 0.1561393832483738, + 0.21963002981829127 + ], + [ + 0.008296399651563015, + 0.970096417089454, + 0.24257805198126586, + -0.04043139533412015 + ], + [ + -0.1629881073736496, + -0.2380304500667172, + 0.9574844028472694, + 1.5786049553352666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9848235916986053, + -0.052009104125444766, + 0.16558244569376196, + 0.22496260641482585 + ], + [ + 0.009739308273017045, + 0.969102203006518, + 0.24646717023221737, + -0.042556528820778323 + ], + [ + -0.173284849621143, + -0.24111402534067222, + 0.954901244985991, + 1.5990199019230338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9831788881811495, + -0.0550325627133336, + 0.17415708678110836, + 0.2301498996640578 + ], + [ + 0.01015334708833964, + 0.9685203657723206, + 0.2487271811184994, + -0.042232970965844406 + ], + [ + -0.1823627795844953, + -0.24277503604253484, + 0.9527875411112193, + 1.6181065719805636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813793056671936, + -0.0586749274216551, + 0.1828986366822917, + 0.23602038620169358 + ], + [ + 0.010957976825541928, + 0.9677527864544908, + 0.25166340030576473, + -0.04238224599892852 + ], + [ + -0.19176699703564307, + -0.24497305403172862, + 0.9503755161231268, + 1.6386645024936202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 772.2035217285156, + "fy": 772.2037696838379, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_011/caption.txt b/spatialvid_eval/source/scene_011/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b64551509a79f6cff36270fc10c5ed9b3f72bf3 --- /dev/null +++ b/spatialvid_eval/source/scene_011/caption.txt @@ -0,0 +1 @@ +A bustling night market in Seoul, filled with people browsing and purchasing food from vibrant stalls adorned with colorful signs and string lights, creating a lively and energetic atmosphere. diff --git a/spatialvid_eval/source/scene_011/extras/temporal_mapping.json b/spatialvid_eval/source/scene_011/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..83fa8ef495c7bca0e4e5c7b3014404414dc25441 --- /dev/null +++ b/spatialvid_eval/source/scene_011/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "1aca1735-5793-59be-bd62-5b6e0bba16e3", + "original_video_path": "videos/group_0039/1aca1735-5793-59be-bd62-5b6e0bba16e3.mp4", + "original_video_num_frames": 150, + "original_annotation_num_frames": 13, + "source_frame_indices": [ + 0, + 2, + 4, + 5, + 7, + 9, + 11, + 13, + 14, + 16, + 18, + 20, + 22, + 23, + 25, + 27, + 29, + 31, + 32, + 34, + 36, + 38, + 40, + 41, + 43, + 45, + 47, + 49, + 50, + 52, + 54, + 56, + 58, + 59, + 61, + 63, + 65, + 67, + 68, + 70, + 72, + 74, + 76, + 77, + 79, + 81, + 83, + 85, + 86, + 88, + 90, + 92, + 94, + 95, + 97, + 99, + 101, + 103, + 104, + 106, + 108, + 110, + 112, + 113, + 115, + 117, + 119, + 121, + 122, + 124, + 126, + 128, + 130, + 131, + 133, + 135, + 137, + 139, + 140, + 142, + 144 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 144 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.03333333333333333, + 0.06666666666666667, + 0.08333333333333333, + 0.11666666666666667, + 0.15, + 0.18333333333333332, + 0.21666666666666667, + 0.23333333333333334, + 0.26666666666666666, + 0.3, + 0.3333333333333333, + 0.36666666666666664, + 0.38333333333333336, + 0.4166666666666667, + 0.45, + 0.48333333333333334, + 0.5166666666666667, + 0.5333333333333333, + 0.5666666666666667, + 0.6, + 0.6333333333333333, + 0.6666666666666666, + 0.6833333333333333, + 0.7166666666666667, + 0.75, + 0.7833333333333333, + 0.8166666666666667, + 0.8333333333333334, + 0.8666666666666667, + 0.9, + 0.9333333333333333, + 0.9666666666666667, + 0.9833333333333333, + 1.0166666666666666, + 1.05, + 1.0833333333333333, + 1.1166666666666667, + 1.1333333333333333, + 1.1666666666666667, + 1.2, + 1.2333333333333334, + 1.2666666666666666, + 1.2833333333333334, + 1.3166666666666667, + 1.35, + 1.3833333333333333, + 1.4166666666666667, + 1.4333333333333333, + 1.4666666666666666, + 1.5, + 1.5333333333333334, + 1.5666666666666667, + 1.5833333333333333, + 1.6166666666666667, + 1.65, + 1.6833333333333333, + 1.7166666666666666, + 1.7333333333333334, + 1.7666666666666666, + 1.8, + 1.8333333333333333, + 1.8666666666666667, + 1.8833333333333333, + 1.9166666666666667, + 1.95, + 1.9833333333333334, + 2.0166666666666666, + 2.033333333333333, + 2.066666666666667, + 2.1, + 2.1333333333333333, + 2.1666666666666665, + 2.183333333333333, + 2.216666666666667, + 2.25, + 2.283333333333333, + 2.316666666666667, + 2.3333333333333335, + 2.3666666666666667, + 2.4 + ] +} diff --git a/spatialvid_eval/source/scene_011/transforms.json b/spatialvid_eval/source/scene_011/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..91457443dbc71fc7d9717f43b689bf3914412456 --- /dev/null +++ b/spatialvid_eval/source/scene_011/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999980614184, + -6.210759934996563e-05, + 4.4507771980796655e-06, + -0.00016734270388062334 + ], + [ + 6.21080507680176e-05, + 0.9999999929205473, + -0.00010149628214618411, + 8.404972584674953e-05 + ], + [ + -4.444473476143552e-06, + 0.00010149655837852146, + 0.9999999948393477, + 9.070408039271056e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999556737902007, + 0.00031738687329074453, + -0.009410086097296759, + -0.0007414873050551386 + ], + [ + -0.00031852516309577685, + 0.9999999421347476, + -0.00011946640507582489, + 0.00016920398266045663 + ], + [ + 0.009410047635710982, + 0.00012245845879177628, + 0.9999557170232188, + 0.007024139022991829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998225739574809, + 0.0006966671351763126, + -0.018823795046190434, + -0.0013156319062296539 + ], + [ + -0.0006993106417330986, + 0.9999997465240695, + -0.0001338522449537558, + 0.0002543582394741637 + ], + [ + 0.018823697024351434, + 0.00014699217627325508, + 0.9998228077132647, + 0.013957573965590948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997227365903941, + 0.0008862164136192531, + -0.023530077872414668, + -0.0016027042068169114 + ], + [ + -0.0008897499163854874, + 0.9999995944143256, + -0.0001397006471982858, + 0.0002969353678810172 + ], + [ + 0.023529944523945624, + 0.00016059779814004438, + 0.9997231196281536, + 0.017424291436890508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994564980342163, + 0.0012651122302803767, + -0.03294097794883288, + -0.002176848807991427 + ], + [ + -0.0012707004023653496, + 0.9999991816029089, + -0.00014870776727222426, + 0.0003820896246947243 + ], + [ + 0.03294076285801723, + 0.0001904850582422745, + 0.9994572876605456, + 0.024357726379489627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991015282332978, + 0.001643709697246952, + -0.04234896102999587, + -0.002750993409165942 + ], + [ + -0.0016517186191193375, + 0.9999986240341336, + -0.0001541280082499513, + 0.00046724388150843135 + ], + [ + 0.04234864941756923, + 0.00022393809601968403, + 0.9991028684496092, + 0.03129116132208875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9986578587018135, + 0.002021975202682918, + -0.05175319187633501, + -0.0033251380103404577 + ], + [ + -0.002032770739897524, + 0.9999979217575007, + -0.00015596088892314656, + 0.0005523981383221384 + ], + [ + 0.05175276897160218, + 0.0002609539415157369, + 0.9986598934606379, + 0.03822459626468786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9981499938515409, + 0.0024261777206347973, + -0.06075115995466281, + -0.005049133359978648 + ], + [ + -0.00244009917760259, + 0.9999970109459312, + -0.00015496840669036906, + 8.485086078524736e-05 + ], + [ + 0.060750602385265244, + 0.00030292056962895103, + 0.9981529304415011, + 0.04642569976119326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9978786696088604, + 0.002641285118978151, + -0.06504755454720461, + -0.0064860564090295815 + ], + [ + -0.0026568948632277145, + 0.9999964586718212, + -0.0001534715049174024, + -0.00042527354515849733 + ], + [ + 0.06504691883046458, + 0.00032597045469183965, + 0.9978821534098734, + 0.05116008578639909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9972804079649543, + 0.003071191887031553, + -0.07363664624117285, + -0.009359902507131448 + ], + [ + -0.0030904564748738613, + 0.9999952136235496, + -0.00014767792212444237, + -0.0014455223570459868 + ], + [ + 0.07363584024122706, + 0.0003748471485877092, + 0.9972851259903479, + 0.06062885783681077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.99660803306722, + 0.003500661329390276, + -0.08222027606463089, + -0.012233748605233312 + ], + [ + -0.003523951556981747, + 0.9999937813204317, + -0.00013815168802919987, + -0.0024657711689334764 + ], + [ + 0.08221928114080815, + 0.0004274233519251221, + 0.9966141716421493, + 0.07009762988722243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.995861594883751, + 0.0039296615296793855, + -0.0907978061180666, + -0.015107594703335179 + ], + [ + -0.003957347894007709, + 0.9999921618689103, + -0.00012489351058159908, + -0.0034860199808209656 + ], + [ + 0.09079660364373575, + 0.00048369515746027303, + 0.9958693402278017, + 0.0795664019376341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9950411488867155, + 0.004358160606396054, + -0.09936859895527732, + -0.017981440801437043 + ], + [ + -0.0043906132777463995, + 0.9999903553893366, + -0.00010790437507400468, + -0.004506268792708454 + ], + [ + 0.0993671703192315, + 0.0005436583833076382, + 0.9950506871000651, + 0.08903517398804578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9946031917971765, + 0.0045722122705635585, + -0.10365126985147051, + -0.019418363850487976 + ], + [ + -0.00460718679966448, + 0.9999893820554403, + -9.801108176980025e-05, + -0.005016393198652199 + ], + [ + 0.10364972116056294, + 0.0005750228969878932, + 0.994613696191645, + 0.09376956001325161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9938168065592192, + 0.004951892798583146, + -0.11092174610123505, + -0.022897819502818398 + ], + [ + -0.004985036796982099, + 0.9999875743962735, + -2.147533657862941e-05, + -0.00653289650946629 + ], + [ + 0.1109202614880088, + 0.0005742915363185203, + 0.9938291431532198, + 0.1030482566558672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9931298550413628, + 0.005283718730497764, + -0.11689813232853209, + -0.026982884709377382 + ], + [ + -0.005307082348370416, + 0.9999859111343281, + 0.0001113992610937219, + -0.008545654319206984 + ], + [ + 0.11689707396881081, + 0.0005097540826164988, + 0.9931439040986486, + 0.11213687789068669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9924068543918355, + 0.005615926307984988, + -0.1228702434595347, + -0.03106794991593636 + ], + [ + -0.0056283221278364244, + 0.9999841305597209, + 0.00024620874131893683, + -0.010558412128947677 + ], + [ + 0.12286967626769169, + 0.00044721406761984866, + 0.9924227136928347, + 0.1212254991255062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9916478308615552, + 0.005948503469155757, + -0.12883786265710007, + -0.03515301512249534 + ], + [ + -0.005948744471713049, + 0.9999822327371017, + 0.00038294820939531183, + -0.01257116993868837 + ], + [ + 0.12883785152967508, + 0.00038667376204957153, + 0.9916655981209689, + 0.1303141203603257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9912548190772082, + 0.006114926870600909, + -0.13181992006361756, + -0.03719554772577483 + ], + [ + -0.006108645468513366, + 0.9999812398791549, + 0.00045204014011747813, + -0.013577548843558718 + ], + [ + 0.13182021129838675, + 0.00035715419004862483, + 0.9912735769373324, + 0.13485843097773545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9904418133070906, + 0.006448035762020907, + -0.13778039515030438, + -0.041280612932333816 + ], + [ + -0.00642781985467, + 0.9999791663150472, + 0.0005916652591660225, + -0.01559030665329941 + ], + [ + 0.1377813397557094, + 0.0002996175473721997, + 0.9904626255666829, + 0.14394705221255494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9895928560035013, + 0.006781484024653076, + -0.14373583694144232, + -0.04536567813889279 + ], + [ + -0.006746147776841929, + 0.999976975683171, + 0.0007332078231302929, + -0.017603064463040104 + ], + [ + 0.1437374997591322, + 0.00024408597309940857, + 0.9896158201974296, + 0.15303567344737445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9888098757576727, + 0.00686409196486915, + -0.14902319901811906, + -0.04702911572164288 + ], + [ + -0.006815151067633624, + 0.9999764245576495, + 0.0008390737900678545, + -0.019889800701965096 + ], + [ + 0.14902544520994204, + 0.00018593116378199732, + 0.9888333439511338, + 0.1592704092521324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9879986369360919, + 0.00694700951480747, + -0.15430629433443663, + -0.048692553304392976 + ], + [ + -0.006883587422818123, + 0.9999758610180282, + 0.0009453070642676312, + -0.022176536940890085 + ], + [ + 0.1543091365947494, + 0.000128218775959721, + 0.9880226080021289, + 0.16550514505689035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9875824277745118, + 0.006988583653078533, + -0.1569461947596229, + -0.04952427209576802 + ], + [ + -0.00691759238759325, + 0.9999755745979504, + 0.0009985604930355769, + -0.02331990506035258 + ], + [ + 0.15694933980925396, + 9.952900613910648e-05, + 0.9876066498497348, + 0.1686225129592693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9867288448214682, + 0.007071961170726257, + -0.16222260681696338, + -0.05118770967851811 + ], + [ + -0.006985174676467498, + 0.9999749924674946, + 0.001105339031093084, + -0.02560664129927757 + ], + [ + 0.16222636694455866, + 4.24833398018369e-05, + 0.9867535680518899, + 0.17485724876402725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9858470627790117, + 0.007155642356147974, + -0.16749437480842808, + -0.0528511472612682 + ], + [ + -0.0070521851696039636, + 0.9999743979638753, + 0.0012124772652119206, + -0.02789337753820256 + ], + [ + 0.16749876266506838, + -1.4115804579416312e-05, + 0.9858722860018001, + 0.1810919845687852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9849371068529121, + 0.007239624817314186, + -0.17276134804035145, + -0.05451458484401829 + ], + [ + -0.007118621951505447, + 0.9999737911040868, + 0.0013199721328420564, + -0.03018011377712755 + ], + [ + 0.17276637625917393, + -7.026680911620463e-05, + 0.9849628288909429, + 0.18732672037354314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9840088337372647, + 0.00727518899967377, + -0.1779710278445557, + -0.055641407324316855 + ], + [ + -0.0071443541566371315, + 0.9999735320581188, + 0.0013760039590801276, + -0.03173093886979743 + ], + [ + 0.17797632800660074, + -8.251199845006087e-05, + 0.9840347655754126, + 0.194893088462126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9835393448822131, + 0.007268608723182495, + -0.18054784517101366, + -0.055936511013240375 + ], + [ + -0.007137078095910584, + 0.9999735810790089, + 0.001378136522882085, + -0.03213839584300482 + ], + [ + 0.18055309242690895, + -6.68674218397996e-05, + 0.983565237462075, + 0.19934208864832986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9825801276666947, + 0.007255325351867369, + -0.18569774626672397, + -0.056526718391087416 + ], + [ + -0.007122509341972041, + 0.9999736791458685, + 0.001382344439421946, + -0.03295330978941959 + ], + [ + 0.18570288790208828, + -3.563024319866632e-05, + 0.9826059414410796, + 0.20824008902073765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9815939464566259, + 0.007241878527009807, + -0.19084255153163995, + -0.05711692576893446 + ], + [ + -0.007107918744610186, + 0.999973777243924, + 0.0013864759785338228, + -0.033768223735834366 + ], + [ + 0.19084758780457936, + -4.4630781353484665e-06, + 0.9816196810421307, + 0.21713808939314544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9805808283145961, + 0.007228268617614908, + -0.19598211978303562, + -0.0577071331467815 + ], + [ + -0.007093306704217301, + 0.9999738753704835, + 0.0013905310268408381, + -0.03458313768224913 + ], + [ + 0.19598705095454758, + 2.6633218066989678e-05, + 0.9806064833299907, + 0.2260360897655532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9795408010423924, + 0.00721449599716311, + -0.20111630998189828, + -0.05829734052462854 + ], + [ + -0.0070786736217741, + 0.9999739735228541, + 0.0013945094730651608, + -0.035398051628663905 + ], + [ + 0.2011211363158643, + 5.7657792069954025e-05, + 0.9795663761086303, + 0.23493409013796096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979010705372471, + 0.007207548788224715, + -0.20368134427718726, + -0.05859244421355206 + ], + [ + -0.007071349315248298, + 0.999974022607877, + 0.0013964699361967007, + -0.03580550860187129 + ], + [ + 0.20368611829223526, + 7.314291711595935e-05, + 0.9790362403226732, + 0.23938309032416485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9779534474611317, + 0.007112001864133043, + -0.20870187835372284, + -0.05721044779009569 + ], + [ + -0.006964052512978129, + 0.9999747085321358, + 0.001443699645522396, + -0.03596706082877463 + ], + [ + 0.20870686757144347, + 4.153979497545834e-05, + 0.9779782419373967, + 0.24947220797309072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9768940248634495, + 0.006935239372110938, + -0.21361171934363074, + -0.05385624756533591 + ], + [ + -0.00676377786864758, + 0.9999759495195367, + 0.001533522560901664, + -0.035475251336166524 + ], + [ + 0.2136172172251903, + -5.326680695792274e-05, + 0.9769174385113685, + 0.26075244289853466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9758099164341135, + 0.0067589550914202495, + -0.21851618593349256, + -0.05050204734057613 + ], + [ + -0.006563054280661606, + 0.9999771469073309, + 0.0016223383074064075, + -0.03498344184355842 + ], + [ + 0.21852215747460854, + -0.00014896021869345187, + 0.9758319755488113, + 0.2720326778239786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9747011495762228, + 0.006583153478013316, + -0.22341515415270077, + -0.04714784711581635 + ], + [ + -0.006361886822726932, + 0.9999783006652522, + 0.0017101446400336606, + -0.03449163235095032 + ], + [ + 0.223421564337118, + -0.0002455380213808513, + 0.9747218804870627, + 0.2833129127494226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9741375279704885, + 0.006495435060693381, + -0.22586253767041256, + -0.04547074700343646 + ], + [ + -0.0062611382311335935, + 0.9999788611738535, + 0.0017536685815550315, + -0.03424572760464627 + ], + [ + 0.22586915404188515, + -0.0002941578073264598, + 0.974157604663428, + 0.2889530302121446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9729918262138348, + 0.006320365776403559, + -0.23075302619363242, + -0.04211654677867668 + ], + [ + -0.006059314505984015, + 0.999979949432628, + 0.0018399566398149922, + -0.033753918112038164 + ], + [ + 0.23076002866351075, + -0.0003920576122130742, + 0.973010614259703, + 0.3002332651375885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9718215372617258, + 0.006145790245655857, + -0.235637707034576, + -0.0387623465539169 + ], + [ + -0.0058570596439576576, + 0.99998099399069, + 0.001925229783440886, + -0.03326210861943006 + ], + [ + 0.235645060560546, + -0.0004908356632586489, + 0.9718390630725688, + 0.31151350006303247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9706060127119096, + 0.005853457744210342, + -0.240602795328577, + -0.03236565800096159 + ], + [ + -0.00550142662642355, + 0.9999825883223888, + 0.0021347967420314072, + -0.03364022096036974 + ], + [ + 0.24061110197279437, + -0.00074838792912091, + 0.9706213152012194, + 0.32529221525788726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9693650150690118, + 0.005562445097299526, + -0.2455616557298681, + -0.02596896944800628 + ], + [ + -0.005144726149181257, + 0.9999840220154788, + 0.002342542763042895, + -0.03401833330130941 + ], + [ + 0.24557076241504133, + -0.001007431529327182, + 0.969378143826551, + 0.33907093045274206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9687349740102379, + 0.005417436112246392, + -0.2480387097115151, + -0.022770625171528624 + ], + [ + -0.004965978543503646, + 0.9999846786105976, + 0.0024457312127905625, + -0.03420738947177925 + ], + [ + 0.24804815900644978, + -0.0011375104524729799, + 0.9687470345159677, + 0.34596028805016943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9674558281291776, + 0.005128417585778214, + -0.2529879838094165, + -0.016373936618573313 + ], + [ + -0.004607694473947819, + 0.9999858712764002, + 0.002650735598689159, + -0.03458550181271893 + ], + [ + 0.2529980034911787, + -0.0013987782688074627, + 0.9674657893945567, + 0.3597390032450243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9661512919990082, + 0.004840737981047261, + -0.25793070430727366, + -0.009977248065618002 + ], + [ + -0.004248366448170833, + 0.9999869032172573, + 0.0028539054787800376, + -0.034963614153658604 + ], + [ + 0.25794114125352213, + -0.0016615203154342877, + 0.9661592037542632, + 0.373517718439879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.964821399926595, + 0.004554404863490049, + -0.2628667412207656, + -0.003580559512662687 + ], + [ + -0.0038880039158289076, + 0.9999877744060317, + 0.0030552355100746664, + -0.03534172649459828 + ], + [ + 0.2628774422981859, + -0.0019257296827281632, + 0.964827311955851, + 0.38729643363473387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9632003457397096, + 0.004347294023721838, + -0.2687493162811305, + 0.002591205217924867 + ], + [ + -0.0036012541044026887, + 0.9999881725758742, + 0.0032688954157390868, + -0.03640246429891566 + ], + [ + 0.2687603485184884, + -0.0021807666163140027, + 0.9632046092711485, + 0.40160828031897094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9622416167362432, + 0.004283276790702474, + -0.2721630477503423, + 0.005564625672034769 + ], + [ + -0.003494668031969589, + 0.9999881739236769, + 0.0033822046266535955, + -0.037274145932763195 + ], + [ + 0.27217431604794595, + -0.002303378545627424, + 0.9622452058239149, + 0.40903076940578065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9602878519021666, + 0.004156548550133481, + -0.2789802225844572, + 0.011511466580254573 + ], + [ + -0.0032802937422929572, + 0.9999881120684593, + 0.0036076855077766413, + -0.039017509200458274 + ], + [ + 0.27899190160663656, + -0.002549279488234116, + 0.9602900707661222, + 0.42387574757940005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9582857602500137, + 0.004031567255192119, + -0.28578339379243195, + 0.01745830748847438 + ], + [ + -0.003064325601994567, + 0.9999879641485264, + 0.003831640208884257, + -0.04076087246815335 + ], + [ + 0.2857954016611505, + -0.0027960728803521264, + 0.9582865804996903, + 0.43872072575301946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9562354426515901, + 0.003908339202837281, + -0.2925722186086596, + 0.02340514839669418 + ], + [ + -0.00284677449224269, + 0.9999877301713315, + 0.004054057446419597, + -0.042504235735848425 + ], + [ + 0.29258447342931254, + -0.0030437462877380343, + 0.9562348359668916, + 0.4535657039266389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9541370024084785, + 0.0037868706016938635, + -0.2993463549903506, + 0.029351989304913985 + ], + [ + -0.00262765137396068, + 0.9999874101486624, + 0.004274926014288167, + -0.0442475990035435 + ], + [ + 0.29935877485589074, + -0.0032922872318104203, + 0.9541349405412022, + 0.4684106821002583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9530697692400238, + 0.0037267980112908224, + -0.3027278083317601, + 0.032325409759023885 + ], + [ + -0.0025175037585816323, + 0.9999872178751447, + 0.00438477606651302, + -0.04511928063739104 + ], + [ + 0.30274028000184144, + -0.003416879118578357, + 0.9530669692112385, + 0.475833171187068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9507751354545451, + 0.003616828042396965, + -0.3098605498547748, + 0.03781081689732141 + ], + [ + -0.0023249494187204244, + 0.999986998598343, + 0.004538418720011559, + -0.04644218355268326 + ], + [ + 0.3098729359134031, + -0.0035946055679991827, + 0.9507711829873782, + 0.48984801381674686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9482998886679719, + 0.003516777544897637, + -0.31735619330337933, + 0.04283479026569664 + ], + [ + -0.002160393686135453, + 0.9999869671885477, + 0.004625813676666958, + -0.04734462611557262 + ], + [ + 0.31736832521761377, + -0.0037010442783134544, + 0.9482951272783262, + 0.5030327209024851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9457655345849424, + 0.0034175703211264314, + -0.32483207015988796, + 0.04785876363407188 + ], + [ + -0.0019951531793634164, + 0.9999869085629691, + 0.004711906882245056, + -0.048247068678461985 + ], + [ + 0.32484392091441255, + -0.003808269393862263, + 0.9457599717312923, + 0.5162174279882233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9431722311961851, + 0.003319212555626252, + -0.332287714380807, + 0.05288273700244711 + ], + [ + -0.0018292381994384989, + 0.9999868227252617, + 0.004796692969726158, + -0.049149511241351355 + ], + [ + 0.3322992569778331, + -0.0039162742302701935, + 0.9431658743869679, + 0.5294021350739616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9418535238893848, + 0.0032703541379280683, + -0.3360078039584213, + 0.05539472368663473 + ], + [ + -0.0017460310126315745, + 0.9999867696034658, + 0.004838594189258768, + -0.04960073252279604 + ], + [ + 0.3360191823584649, + -0.003970566941626437, + 0.9418467729335336, + 0.5359944886168307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9391721008106991, + 0.003173282039908867, + -0.3434322281614135, + 0.06041869705500996 + ], + [ + -0.0015791237292167352, + 0.9999866429581282, + 0.00492140971477173, + -0.0505031750856854 + ], + [ + 0.3434432579438208, + -0.004079728719904886, + 0.9391645672545925, + 0.549179195702569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9364321394585929, + 0.003077074629004913, + -0.3508352602016083, + 0.0654426704233852 + ], + [ + -0.0014115679077763817, + 0.9999864891172201, + 0.005002905061855931, + -0.051405617648574764 + ], + [ + 0.3508459144197698, + -0.004189653296365006, + 0.9364238309335213, + 0.5623639027883073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9335056103893682, + 0.003164539995109978, + -0.3585488266027279, + 0.06616315887302883 + ], + [ + -0.0014427983425069086, + 0.9999861095449031, + 0.0050694230630756835, + -0.05204494647746313 + ], + [ + 0.35855988858838705, + -0.004215021218088193, + 0.9334972093646638, + 0.5746333753804367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9305155367115833, + 0.003252211656981992, + -0.3662379814515322, + 0.06688364732267245 + ], + [ + -0.0014734789050909998, + 0.9999857240711514, + 0.005136196434297924, + -0.052684275306351495 + ], + [ + 0.36624945706208345, + -0.00423966664180491, + 0.9305070448032599, + 0.5869028479725662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9289967340840406, + 0.003296122984319437, + -0.37007324090571425, + 0.06724389154749427 + ], + [ + -0.0014886123301911542, + 0.9999855291294221, + 0.0051696774638535226, + -0.05300393972079568 + ], + [ + 0.3700849255164509, + -0.00425171789070174, + 0.9289881973418506, + 0.5930375842686308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9259117264903682, + 0.00338409289527258, + -0.377724797521823, + 0.06796437999713789 + ], + [ + -0.0015184641802667032, + 0.9999851348528452, + 0.005236825361869175, + -0.05364326854968404 + ], + [ + 0.3777369044906246, + -0.004275276437101453, + 0.9259031013001456, + 0.6053070568607604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9227636912337484, + 0.003472254156161265, + -0.3853506372016828, + 0.06868486844678152 + ], + [ + -0.0015477610073239612, + 0.9999847347411847, + 0.00530421723415292, + -0.05428259737857241 + ], + [ + 0.3853631723148076, + -0.004298108383684405, + 0.9227549792267665, + 0.6175765294528898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9195528426133508, + 0.0035606007655009254, + -0.392950240824325, + 0.06940535689642516 + ], + [ + -0.0015765008170124204, + 0.9999843288216779, + 0.0053718484930743516, + -0.054921926207460774 + ], + [ + 0.39296320983888594, + -0.004320212176189989, + 0.9195440454267934, + 0.6298460020450192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9163200424644369, + 0.003799415345459353, + -0.4004287005460596, + 0.06881036157783335 + ], + [ + -0.0017657089600456488, + 0.9999836025137226, + 0.00544765780368578, + -0.05561741010638985 + ], + [ + 0.4004428324365934, + -0.00428475748559146, + 0.9163117257808331, + 0.6429277918867436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.914701291976996, + 0.003993801325375609, + -0.4041108709334456, + 0.06785512203441975 + ], + [ + -0.00194058662230832, + 0.999983045402968, + 0.005490266857558053, + -0.05599322959087473 + ], + [ + 0.40412594643152505, + -0.004237742037844024, + 0.91469353390261, + 0.6498748454324034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9114193116849281, + 0.004381997672599028, + -0.4114555096048291, + 0.06594464294759252 + ], + [ + -0.0022898203943952852, + 0.9999818234225561, + 0.005577593303687232, + -0.05674486855984451 + ], + [ + 0.4114724717527694, + -0.0041413670324256385, + 0.9114127791888642, + 0.6637689525237228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9080782034548309, + 0.0047694055563900295, + -0.41877348194565245, + 0.0640341638607653 + ], + [ + -0.0026383398890314396, + 0.999980457830636, + 0.005667726127969154, + -0.057496507528814286 + ], + [ + 0.4187923298878299, + -0.004041871778074432, + 0.9080730409497095, + 0.6776630596150423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9046781840235165, + 0.005155999845701118, + -0.42606431324097527, + 0.06212368477393807 + ], + [ + -0.0029861224978488653, + 0.9999789487157934, + 0.0057606594835112185, + -0.05824814649778406 + ], + [ + 0.426085045999435, + -0.003939262729021375, + 0.9046745358330871, + 0.6915571667063617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9012194739493505, + 0.005541755462262451, + -0.43332753053648937, + 0.06021320568711085 + ], + [ + -0.003333145660281218, + 0.9999772961759235, + 0.005856387341751101, + -0.05899978546675383 + ], + [ + 0.4333501470110089, + -0.003833546541488486, + 0.9012174842991292, + 0.7054512737976811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8994681798871285, + 0.005734310946134455, + -0.4369486366250729, + 0.059257966143697244 + ], + [ + -0.0035063654123569884, + 0.9999764161547406, + 0.005905297275877685, + -0.05937560495123872 + ], + [ + 0.43697219450684954, + -0.0037795254059874205, + 0.8994670735583232, + 0.7123983273433409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8960098489577849, + 0.006072640796345941, + -0.44399265039458297, + 0.056334460625905414 + ], + [ + -0.0037822639332878764, + 0.999974581280004, + 0.006044110639266784, + -0.06038668892807495 + ], + [ + 0.4440180683825679, + -0.003736285272741247, + 0.8960100418645843, + 0.7264945771147548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8925856002141442, + 0.006364754520337228, + -0.4508330469145447, + 0.052397928677148986 + ], + [ + -0.0039869903224190074, + 0.9999726843480348, + 0.006223701949394585, + -0.06165721791277763 + ], + [ + 0.4508603444510563, + -0.0037577197449793404, + 0.8925865948712166, + 0.7407929695662634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8891090504092035, + 0.006657023171105749, + -0.4576470042761604, + 0.04846139672839256 + ], + [ + -0.0041903363914746125, + 0.9999707090351571, + 0.006404853835307086, + -0.06292774689748032 + ], + [ + 0.4576762366142368, + -0.0037769186150518955, + 0.8891109027137192, + 0.7550913620177719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8855804032917172, + 0.0069494296197804015, + -0.46443412313657545, + 0.04452486477963613 + ], + [ + -0.00439229022303352, + 0.9999686554571378, + 0.006587555680308672, + -0.06419827588218299 + ], + [ + 0.46446534541586265, + -0.0037938807577784697, + 0.8855831690905827, + 0.7693897544692806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.883796607747457, + 0.0070956791633245975, + -0.4678174937636458, + 0.04255659880525792 + ], + [ + -0.004492741347849535, + 0.9999675993561311, + 0.006679484494894896, + -0.06483354037453434 + ], + [ + 0.4678497316545869, + -0.003801522740610572, + 0.883799851219485, + 0.7765389506950349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8801902033657331, + 0.00738826017483377, + -0.4745636095515315, + 0.03862006685650149 + ], + [ + -0.004692584656676033, + 0.9999654286074926, + 0.006864491173689512, + -0.06610406935923702 + ], + [ + 0.47459791987347494, + -0.00381512796937374, + 0.8801944440010673, + 0.7908373431465434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.87653222437474, + 0.007680936128936491, + -0.48128189541354394, + 0.03468353490774506 + ], + [ + -0.0048910062929440265, + 0.99996317990318, + 0.007051020873792833, + -0.0673745983439397 + ], + [ + 0.48131833300853255, + -0.0038264942314706826, + 0.8765375178803151, + 0.805135735598052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 631.9189961751301, + "fy": 631.919002532959, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_198/rgb_video/00026.png b/spatialvid_eval/source/scene_198/rgb_video/00026.png new file mode 100644 index 0000000000000000000000000000000000000000..eb55bab9c9777bbe2930a8fad5038bc61f92796d --- /dev/null +++ b/spatialvid_eval/source/scene_198/rgb_video/00026.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccf2b8b2e540227aaee18860ab4e0f3e42fcc63405bb01a1ffb9c7b738075446 +size 733310 diff --git a/spatialvid_eval/source/scene_198/rgb_video/00057.png b/spatialvid_eval/source/scene_198/rgb_video/00057.png new file mode 100644 index 0000000000000000000000000000000000000000..ae595cab9b742b3a14fd3b088daaf1fd3b7966a8 --- /dev/null +++ b/spatialvid_eval/source/scene_198/rgb_video/00057.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eddeeabb87d55e0794b342519072663cb43bc4b8afffafcea4fc8fdfc333d52 +size 766444